CN103481965B - A kind of low-power consumption running gear based on terminal and control method - Google Patents
A kind of low-power consumption running gear based on terminal and control method Download PDFInfo
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- CN103481965B CN103481965B CN201310446974.8A CN201310446974A CN103481965B CN 103481965 B CN103481965 B CN 103481965B CN 201310446974 A CN201310446974 A CN 201310446974A CN 103481965 B CN103481965 B CN 103481965B
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Abstract
The invention discloses a kind of low-power consumption running gear based on terminal and control method, comprise a pair leg; Actuating device, brake equipment; Be provided with obliquity sensor in the upper end of hip joint, be respectively equipped with coder in the inner side of two thighs and two shanks; Be respectively equipped with gyroscope in the left and right sides of hip joint, and gyroscope is fixed in the first rotating shaft of connected legs and hip joint; Pressure sensor is respectively equipped with in the bottom of two foots; Also comprise upper body, upper body comprises bracing frame and is arranged on terminal, driving circuit and the data acquisition equipment on bracing frame; The lower end of bracing frame is connected with hip joint by the second rotating shaft; Data acquisition equipment is connected with two pressure sensors with terminal, driving circuit, obliquity sensor, four coders, two gyroscopes respectively; Driving circuit is connected with brake equipment with actuating device respectively.The present invention has more reasonably apery form, also has low energy consumption and the gait nature of passive walking device simultaneously.
Description
Technical field
The present invention relates to a kind of low-power consumption running gear based on terminal and control method.
Background technology
The mechanical walking device of current main-stream mainly contains two kinds of walking manners, one is wheeled, namely the motion realizing running gear is rotated by electric machine control wheel shaft, one is sufficient formula, the sufficient formula running gear of current main flow is mainly divided into two classes, one class is that the Asimo that manufactures with Japanese HONDA company is for representative, be called as initiatively walking robot, the various actions of its energy simulating human walking, comprise the walking stability of friction speed, slowly walking, stair activity, and keep away barrier locomotor activity, but they all relate to and use the drive system of high-torque and the controlled reset of high gain, another kind of is a lot of passive walking machine of Recent study, its maximum feature is low energy consumption and natural gait, main with the straight bottom bands of trouser legs knee joint running gear of McGeer research and design for representative, there is a large amount of new similar research model 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 object of this invention is to provide a kind of low-power consumption running gear based on terminal and control method, make it have more reasonably 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, comprising:
A pair leg, often only described leg is connected with hip joint respectively by the first rotating shaft, and often only described leg 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 legs, described thigh and shank can be locked together;
Obliquity sensor is provided with, for detecting leg attitude angle initial value and terrain slope angle in the upper end of hip joint;
Coder is respectively equipped with, at the coder of two thighs for detecting the angle between two thighs, at two coders of same leg for detecting the angle between the thigh of this leg and shank in the inner side of two thighs and two shanks;
Be respectively equipped with gyroscope in the left and right sides of hip joint, and gyroscope is fixed in the first rotating shaft of connected legs and hip joint, for detecting the cireular frequency of leg exercise;
Pressure sensor is respectively equipped with, for detecting the contact force of foot and ground in the bottom of two foots;
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 with terminal, driving circuit, obliquity sensor, four coders, two gyroscopes and two pressure sensors respectively, described data acquisition equipment is for gathering the data-signal of each sensor detection and sending terminal to, and described terminal sends control command input driving circuit after data acquisition equipment based on the data-signal of data acquisition equipment collection;
Described driving circuit is connected with brake equipment with actuating device respectively, and driving circuit controls the generation of described actuating device and drives the moment of thigh and upper body swing and control brake equipment that thigh and shank are unclamped/locking.
The left and right sides of support frame as described above is connected with the thigh of homonymy respectively by a spring.
Described brake equipment is keying formula drg.
Described second rotating shaft and two described first rotating shafts are coaxially arranged.
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, draws the absolute pose angle of device, thus judges that this running gear is in 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 controls brake equipment respectively by the thigh of the thigh of leading leg and shank and supporting leg and shank locking;
The data-signal that b2, terminal detect according to obliquity sensor, gyroscope and pressure sensor sends control command D2, and driving circuit accessory drive applies the drive torque J of forward rocking motion to leading leg
1, make forward rocking motion of leading leg, until leading leg with the angle α of feet is default α
max, apply the drive torque J swung backward to upper body simultaneously
2, upper body backward swinging direct is default β to the angle β of upper body and vertical curve L
max;
B3, lead leg slowly lands under the traction of spring, upper body slow return under the action of the 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 detect according to coder sends control command D3, and driving circuit accessory drive applies the drive torque J of forward rocking motion to upper body
3, upper body forward rocking motion is until the angle β of upper body and vertical curve L is default β
max, forward rocking motion of leading leg is until leading leg with the angle α of supporting leg is 0;
B5, lead leg slowly lands under the traction of spring, and upper body slow return under the action of the spring, restarts 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 controls brake equipment and controls to unclamp the thigh and shank of leading leg, simultaneously the thigh of locking supporting leg and shank;
The data-signal that c2, terminal detect according to obliquity sensor, gyroscope and pressure sensor sends control command D5, and driving circuit accessory drive applies the drive torque J of forward rocking motion to leading leg
4, make forward rocking motion of leading leg, until leading leg with the angle α of feet is default α
max, apply the drive torque J swung backward to upper body simultaneously
5, upper body backward swinging direct is default β to the angle β of upper body and vertical curve L
max;
The data-signal that c3, terminal detect according to obliquity sensor, gyroscope and pressure sensor sends control command D6, the thigh that driving circuit control brake equipment control locking is led leg and shank, lead leg and slowly to land under the traction of spring, upper body is slow return under the action of the 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 driving circuit accessory drive applies the drive torque J of forward rocking motion to upper body
5, upper body forward rocking motion is until the angle β of upper body and vertical curve L is default β
maxsimultaneously, the data-signal that terminal detects according to obliquity sensor, pressure sensor and coder sends control command D8, and driving circuit controls brake equipment and controls to unclamp the thigh and shank of leading leg, and accessory drive applies the drive torque J of forward rocking motion to leading leg
6, forward rocking motion of leading leg is until leading leg with the angle α of supporting leg is 0;
C5, lead leg slowly lands under the traction of spring, and upper body slow return under the action of the spring, restarts the new cycle;
D, running gear are walked on complicated ground:
When switching between the smaller inclined-plane in inclined-plane and the inclined-plane that interplanar switches or inclination angle is larger and inclination angle if exist, the angular velocity data signal that described terminal records according to gyroscope and the ground signal that obliquity sensor records, terminal is conducted to through data acquisition equipment, according to these data-signals, terminal can show whether the absolute pose angle of device there occurs change, thus control lines walking apparatus switches on inclined-plane and interplanar;
D1, when running gear is from high spud angle chamfered transition to 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 continue walk on inclined-plane, then ensuing walking process according to described step b3 to step b5;
D2, when running gear is from small inclination chamfered transition to 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 continue walk on inclined-plane, then ensuing walking process according to described step b3 to step b5;
D3, when running gear is from chamfered transition to plane, terminal sending controling instruction D11, driving circuit produces control signal, and the thigh of leading leg and shank are unclamped, and ensuing walking process is according to described step C;
D4, when device is when being transitioned into inclined-plane from plane, terminal sending controling instruction D12, driving circuit produces control signal, and make the thigh of leading leg and shank locking, ensuing walking process is according to described step B.
In the process of walking, lead leg described in and meet following relational expression with the angle α of feet and the angle β of upper body and vertical curve L: 2 α=β.
The present invention has the following advantages:
(1) not only have knee joint, the upper body that can rotate around hip be made up of bracing frame, terminal, multifunctional data acquiring equipment in addition, therefore has more reasonably apery form;
(2) based on the surface environmental data of sensing device conduction, utilize hand-held intelligent terminal data-handling capacity more and more efficiently, accessory drive applies shaking moment to leg portion; Control brake equipment locking and unclamp thigh and shank; The rotative speed of the bearing of controlling and adjustment shank descending speed in Dynamic controlling hip; Control the regular swing of upper body according to setting; Ground is wiped by avoiding pin, avoid the collision of shank and knee, optimize the mode of each energy-consuming parts working mechanism, inclined-plane carries out the modes such as passive walking and realizes energy-conservation, there is low energy consumption and the natural feature of gait of passive walking device, even can realize zero energy consumption walking step state;
(3) the angle β in the process of walking between the pendulum angle α of upper body and two legs remains certain angular relationship (that is: 2 α=β), this angular relationship is kept to be conducive at utmost ensureing running gear Minimal energy loss in the process of walking, balance can also be kept simultaneously, this angular relationship can reduce the vola collision energy loss of leading leg when landing, and this angular relationship coordinates the knee joint of leg can avoid the friction of leading leg in swing process between foot and bottom surface simultaneously;
(4) rapid by the development at present and intelligent terminal that data-handling capacity is become stronger day by day carrys out treatment and analysis exercise data and implements to control, thus market application widely can be realized, also can at the enterprising line correlation expansive approach in running gear basis, as utilized terminal to carry camera or external camera expansion data acquisition range, or the sensor carried for other non-athletic relevant data acquisition carries out expansive approach etc.;
(5) the usb data interface utilizing intelligent terminal to carry, can provide data transmission interface for device, and the energy dissipating portion that also can be running gear is powered;
In sum, this running gear not only has the both legs of the band knee of anthropomorphic form, also have by terminal bracing frame, terminal, the swingable upper body of the composition such as data acquisition equipment, this device is swung and the cooperation of knee by upper body, make full use of the data-handling capacity that terminal constantly strengthens, not only can carry any terminal to carry out avoiding rubbing and reduce the energy-conservation walking of colliding enough enough, real-time output torque control can also be carried out to the walking process of device, and in conjunction with biped walking passive walking characteristic and self-stable characteristic, thus no matter device can be in doubling time walking step state all the time on level land or on inclined-plane.
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 in the horizontal plane;
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.
Detailed description of the invention
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 leg, every only described leg is connected with hip joint 11 respectively by the first rotating shaft, every only described leg comprises thigh 4 and shank 8, 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 place.
Brake equipment 7, it is located at knee joint 6 place of described two legs, described thigh 4 and shank 8 can be locked together.
Obliquity sensor 13 is provided with, for detecting leg attitude angle initial value and terrain slope angle in the upper end of hip joint 11.
Coder 5 is respectively equipped with in the inner side of two thighs 4 and two shanks 8, at the coder 5 of two thighs 4 for detecting the angle between two thighs 4, at two coders 5 of same leg for detecting the angle between the thigh 4 of this leg and 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 of connected legs and hip joint 11, for detecting the cireular frequency of leg exercise.
Pressure sensor 10 is respectively equipped with, for detecting the contact force of foot 9 and ground in the bottom of two foots 9.
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 with 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 gathering the data-signal of each sensor detection and sending terminal 15 to, and described terminal 15 sends control command input driving circuit 16 after data acquisition equipment 17 based on the data-signal that data acquisition equipment 17 gathers.
Described driving circuit 16 is connected with brake equipment 7 with actuating device 2 respectively, and driving circuit 16 controls the generation of described actuating device 2 and drives the moment of thigh 4 and upper body 1 swing and control brake equipment 7 that thigh 4 and shank 8 are unclamped/locking.
The left and right sides of support frame as described above 14 is connected with the thigh 4 of homonymy respectively by a spring 11, when detect hit ground pressure excessive time, adjustment spring 11 elasticity modulus, makes the ability of spring 11 harvest energy stronger, thus can avoid too much vola collision energy loss.
Described brake equipment 7 is keying formula drg.
Described second rotating shaft and two described first rotating shafts are coaxially arranged.Can, as swing of leading leg, make upper body can adjust swing angle according to the relative angle change between two legs to make each leg leg simultaneously.
During work, first the both legs of running gear are at an angle across standing in the horizontal plane, terminal (such as: Android smartphone) is started shooting, be positioned in bracing frame, then knob d is rotated, terminal is fixed in the lateral direction, rotates knob a, b subsequently, intelligent terminal is fixed in the longitudinal direction.Then connect data line, then start shooting, and utilize terminal to power on to each assembly of device by data line, check whether each device is normally opened, if there are parts normally not open, then on terminal telltale, show announcement information, again detect after hand inspection.After each device all normally works, accept the primary data (as leg attitude angle initial value and terrain slope angle) that sensor is passed back, carry out initialization to data processor, judgment means is on inclined-plane and walking or horizontal surface is walked.Device entirety starts normal work subsequently, walking process starts, each sensor passes data in surface pressure back, two leg relative angle changes, leg angular velocity of satellite motion etc., these data reach terminal through data acquisition equipment (DAQ), after data processor process, judge that running gear is in and a certainly determine in cycle gait walking or be in chaos gait, if be in the gait walking of a certain cycle, then not sending controling instruction, just continues the exercise data monitoring running gear; Otherwise utilize control program (as: OGY controls) to carry out travelling control, walking step state is revert in cycle gait.Not only to control the motion of leg in the process of walking, also to control upper body, if device walks on horizontal surface, also will to thigh shaking moment, control the braking of the drg in brake equipment and disconnection, implementing these control objects is all in order to this running gear can realize energy-conservation walking, said noenergy walking in 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, draws the absolute pose angle of device, thus judges that this running gear is in 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 controls brake equipment 7 respectively by the thigh 4 of the thigh 4 of leading leg and shank 8 and supporting leg and shank 8 locking;
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 applies the drive torque J of forward rocking motion to leading leg
1, make forward rocking motion of leading leg, until leading leg with the angle α of feet is default α
max, apply the drive torque J swung backward to upper body 1 simultaneously
2, upper body 1 backward swinging direct is default β to upper body 1 and the angle β of vertical curve L
max;
B3, lead leg slowly lands under the traction of spring, upper body 1 slow return under the action of the 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 of forward rocking motion to upper body 1
3, upper body 1 forward rocking motion is until upper body 1 is default β with the angle β of vertical curve L
max, forward rocking motion of leading leg is until leading leg with the angle α of supporting leg is 0;
B5, lead leg slowly lands under the traction of spring, and upper body 1 slow return under the action of the spring, restarts 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 controls brake equipment 7 and controls to unclamp the thigh 4 and shank 8 of leading leg, simultaneously the thigh 4 of locking supporting leg and shank 8;
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 applies the drive torque J of forward rocking motion to leading leg
4, make forward rocking motion of leading leg, until leading leg with the angle α of feet is default α
max, apply the drive torque J swung backward to upper body 1 simultaneously
5, upper body 1 backward swinging direct is default β to upper body 1 and the angle β of vertical curve L
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 controls brake equipment 7 and controls thigh 4 that locking leads leg and shank 8, lead leg and slowly to land under the traction of spring, upper body 1 is slow return under the action of the 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 of forward rocking motion to upper body 1
5, upper body 1 forward rocking motion is until upper body 1 is default β with the angle β of vertical curve L
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 controls brake equipment 7 control and unclamps the thigh 4 and shank 8 of leading leg, and accessory drive 2 applies the drive torque J of forward rocking motion to leading leg
6, forward rocking motion of leading leg is until leading leg with the angle α of supporting leg is 0;
C5, lead leg slowly lands under the traction of spring, and upper body 1 slow return under the action of the spring, restarts the new cycle;
D, running gear are walked on complicated ground:
When switching between the smaller inclined-plane in inclined-plane and the inclined-plane that interplanar switches or inclination angle is larger and inclination angle if exist, the angular velocity data signal that described terminal 15 records according to gyroscope 3 and the ground signal that obliquity sensor 13 records, terminal 15 is conducted to through data acquisition equipment 17, according to these data-signals, terminal 15 can show whether the absolute pose angle of device there occurs change, thus control lines walking apparatus switches on inclined-plane and interplanar;
D1, when running gear is from high spud angle chamfered transition to 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 continue walk on inclined-plane, then ensuing walking process according to described step b3 to step b5;
D2, when running gear is from small inclination chamfered transition to 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 continue walk on inclined-plane, then ensuing walking process according to described step b3 to step b5;
D3, when running gear is from chamfered transition to plane, terminal 15 sending controling instruction D11, driving circuit 16 produces control signal, and the thigh 4 and the shank 8 that make to lead leg unclamp, and ensuing walking process is according to described step C;
D4, when device is when being transitioned into inclined-plane from plane, terminal 15 sending controling instruction D12, driving circuit 16 produces control signal, and the thigh 4 and shank 8 locking that make to lead leg, ensuing walking process is according to described step B.
In the process of walking, lead leg described in and meet following relational expression with the angle α of feet and upper body (1) with the angle β of vertical curve L: 2 α=β.
Claims (6)
1., based on a low-power consumption running gear for terminal, comprising:
A pair leg, every only described leg is connected with hip joint (11) respectively by the first rotating shaft, every only described leg 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) place;
Brake equipment (7), it is located at knee joint (6) place of described two legs, described thigh (4) and shank (8) can be locked together;
It is characterized in that:
Obliquity sensor (13) is provided with, for detecting leg attitude angle initial value and terrain slope angle in the upper end of hip joint (11);
Coder (5) is respectively equipped with in the inner side of two thighs (4) and two shanks (8), the coder (5) being positioned at two thighs (4), for detecting the angle between two thighs (4), is positioned at two coders (5) of same leg for detecting the angle between the thigh (4) of this leg and 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 of connected legs and hip joint (11), for detecting the cireular frequency of leg exercise;
Pressure sensor (10) is respectively equipped with, for detecting the contact force of foot (9) and ground in the bottom of two foots (9);
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 with 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 gathering the data-signal of each sensor detection and sending terminal (15) to, and described terminal (15) sends control command input driving circuit (16) after data acquisition equipment (17) based on the data-signal that data acquisition equipment (17) gathers;
Described driving circuit (16) is connected with brake equipment (7) with actuating device (2) respectively, and driving circuit (16) controls described actuating device (2) and produces and drive thigh (4) and the moment that swings of upper body (1) and control brake equipment (7) that thigh (4) and shank (8) are unclamped/locking;
The data-signal that described terminal (15) detects according to obliquity sensor (13), gyroscope (3) and pressure sensor (10), draws the absolute pose angle of running gear, thus judges that this running gear is in inclined-plane/plane;
The angular velocity data signal that described terminal (15) records according to gyroscope (3) and the ground signal that obliquity sensor (13) records, terminal (15) is conducted to through data acquisition equipment (17), according to these data-signals, terminal (15) show whether the absolute pose angle of running gear there occurs change, thus control lines walking apparatus switches on inclined-plane and interplanar.
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 respectively by a spring.
3. the low-power consumption running gear based on terminal according to claim 1 and 2, 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, is characterized in that: described second rotating shaft and two described first rotating shafts are coaxially arranged.
5. a control method for the low-power consumption running gear based on terminal as described in as arbitrary in Claims 1-4, is characterized in that, comprise the following steps:
The data-signal that A, terminal (15) detect according to obliquity sensor (13), gyroscope (3) and pressure sensor (10), draws the absolute pose angle of device, thus judges that this running gear is in 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) controls brake equipment (7) respectively by the thigh (4) of the thigh (4) of leading leg and shank (8) and supporting leg and shank (8) locking;
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) applies the drive torque J of forward rocking motion to leading leg
1, make forward rocking motion of leading leg, until leading leg with the angle α of feet is default α
max, apply the drive torque J swung backward to upper body (1) simultaneously
2, upper body (1) backward swinging direct is default β to upper body (1) and the angle β of vertical curve L
max;
B3, lead leg slowly lands under the traction of spring, upper body (1) slow return under the action of the 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 of forward rocking motion to upper body (1)
3, upper body (1) forward rocking motion is until upper body (1) is default β with the angle β of vertical curve L
max, forward rocking motion of leading leg is until leading leg with the angle α of supporting leg is 0;
B5, lead leg slowly lands under the traction of spring, and upper body (1) slow return under the action of the spring, restarts 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) controls brake equipment (7) and controls to unclamp the thigh (4) of leading leg and shank (8), simultaneously the thigh (4) of locking supporting leg and shank (8);
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) applies the drive torque J of forward rocking motion to leading leg
4, make forward rocking motion of leading leg, until leading leg with the angle α of feet is default α
max, apply the drive torque J swung backward to upper body (1) simultaneously
5, upper body (1) backward swinging direct is default β to upper body (1) and the angle β of vertical curve L
max;
The data-signal that c3, terminal (15) detect according to obliquity sensor (13), gyroscope (3) and pressure sensor (10) sends control command D6, the thigh (4) that driving circuit (16) control brake equipment (7) control locking is led leg and shank (8), lead leg and slowly to land under the traction of spring, upper body (1) is slow return under the action of the 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 of forward rocking motion to upper body (1)
5, upper body (1) forward rocking motion is until upper body (1) is default β with the angle β of vertical curve L
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) controls brake equipment (7) control and unclamps the thigh (4) and shank (8) of leading leg, and accessory drive (2) applies the drive torque J of forward rocking motion to leading leg
6, forward rocking motion of leading leg is until leading leg with the angle α of supporting leg is 0;
C5, lead leg slowly lands under the traction of spring, and upper body (1) slow return under the action of the spring, restarts the new cycle;
D, running gear are walked on complicated ground:
When switching between the smaller inclined-plane in inclined-plane and the inclined-plane that interplanar switches or inclination angle is larger and inclination angle if exist, the angular velocity data signal that described terminal (15) records according to gyroscope (3) and the ground signal that obliquity sensor (13) records, terminal (15) is conducted to through data acquisition equipment (17), according to these data-signals, terminal (15) can show whether the absolute pose angle of device there occurs change, thus control lines walking apparatus switches on inclined-plane and interplanar;
D1, when running gear is from high spud angle chamfered transition to 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 continue walk on inclined-plane, then ensuing walking process according to described step b3 to step b5;
D2, when running gear is from small inclination chamfered transition to 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 continue walk on inclined-plane, then ensuing walking process according to described step b3 to step b5;
D3, when running gear is from chamfered transition to plane, terminal (15) sending controling instruction D11, driving circuit (16) produces control signal, and the thigh (4) of leading leg is unclamped with shank (8), and ensuing walking process is according to described step C;
D4, when device is when being transitioned into inclined-plane from plane, terminal (15) sending controling instruction D12, driving circuit (16) produces control signal, and make the thigh (4) of leading leg and shank (8) locking, 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 in lead leg and meet following relational expression with the angle α of feet and upper body (1) with the angle β of vertical curve L: 2 α=β.
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| CN104648515B (en) * | 2015-01-14 | 2017-02-22 | 重庆邮电大学 | Telescopic-leg energy-saving 2D under-actuated traveling device and control method thereof |
| CN105015643A (en) * | 2015-07-21 | 2015-11-04 | 重庆邮电大学 | Semi-passive walker driven by single motor and walking control method thereof |
| CN104986244B (en) * | 2015-07-21 | 2018-03-16 | 广州足步医疗科技有限公司 | Drive lacking running gear and its control method |
| CN105947012A (en) * | 2016-05-10 | 2016-09-21 | 南京航空航天大学 | Differential gear driving robot leg mechanism and control method |
| JP6851021B2 (en) * | 2016-10-05 | 2021-03-31 | パナソニックＩｐマネジメント株式会社 | Assist device, assist method and program |
| CN106821682A (en) * | 2017-03-14 | 2017-06-13 | 北京飞天时间科技发展有限公司 | A kind of wearable waist power assisting device |
| CN106965872A (en) * | 2017-05-15 | 2017-07-21 | 黄国彬 | A kind of walking robot with gyrocontrol instrument |
| CN108361335B (en) * | 2017-12-18 | 2019-10-11 | 武汉滨湖电子有限责任公司 | A kind of control device of supporting leg |
| CN111038614B (en) * | 2019-12-30 | 2021-09-17 | 深圳市优必选科技股份有限公司 | Robot and leg structure thereof |
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