CN105182836A - Intelligent sensing and executing leg mechanism for stair climbing robot - Google Patents

Intelligent sensing and executing leg mechanism for stair climbing robot Download PDF

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Publication number
CN105182836A
CN105182836A CN201510225490.XA CN201510225490A CN105182836A CN 105182836 A CN105182836 A CN 105182836A CN 201510225490 A CN201510225490 A CN 201510225490A CN 105182836 A CN105182836 A CN 105182836A
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CN
China
Prior art keywords
leg
supporting seat
stair climbing
execution
climbing robot
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Application number
CN201510225490.XA
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Chinese (zh)
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CN105182836B (en
Inventor
朱庆云
周其洪
马晓建
陶程杰
余勇平
孙书行
吴爱冬
袁晨旺
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Donghua University
National Dong Hwa University
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Donghua University
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Priority to CN201510225490.XA priority Critical patent/CN105182836B/en
Publication of CN105182836A publication Critical patent/CN105182836A/en
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Publication of CN105182836B publication Critical patent/CN105182836B/en
Expired - Fee Related legal-status Critical Current
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0428Safety, monitoring
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/20Pc systems
    • G05B2219/26Pc applications
    • G05B2219/2609Process control

Abstract

The invention provides an intelligent sensing and executing leg mechanism for a stair climbing robot. The leg mechanism is characterized by comprising a supporting seat, a force sensor, a range finding sensor, a spring, a spring pressure plate and a signal collection and execution mechanism control module; the signal collection and execution mechanism control module comprises an electric push rod, a motor driver, a collection card and an STM32 control board card; and the electric push rod is connected with the supporting seat, and driven by the motor driver, the motor driver is connected with the STM32 control board card via an RS232 serial line, an output port of the collection card is connected with the STM32 control board card, and an input port of the collection card is connected with the range finding sensor. The intelligent sensing and executing leg mechanism is suitable for occasions, including different types of stairs, rough support surfaces and support surfaces easy to collapse, of a horizontal-attitude stair climbing and walking mechanism or robot, identification, determination and adjustment are implemented automatically, safe climbing is realized, the horizontal attitude is maintained, and stair climbing and walking are more flexible and more intelligent.

Description

For the Intellisense of stair climbing robot and the leg mechanism of execution
Technical field
The invention belongs to a kind of leg Intelligent Actuator for horizontal attitude stair climbing robot, particularly relate to robot and support ground in polymorphic type stair and robot and there will be Intelligent Recognition under operating mode of subsiding and control.
Background technology
Along with the development of science and technology and the progress of technology, the use of robot is more and more universal, and occurred the robot being much applied to various occasion, the research of wherein climbing building transfer robot is more and more paid attention to.For climbing building transfer robot, during a very important performance index Shi Pa building, robot platform can not run-off the straight, and for this reason, applicant is studied horizontal attitude stair climbing robot.The walking and when creeping in level and on not givey supporting surface of horizontal attitude stair climbing robot, in order to keep horizontal attitude, as long as ensure each leg rising height unanimously.But the weight on robot platform is not balanced placement, this just causes each leg different to the pressure on ground, and a lot of occasion ground intensity neither be uniform, once certain supporting leg will cause supporting surface to subside to the pressure of supporting surface beyond its tolerance range thus cause the inclination of platform.The very important index of the another one of stair climbing robot be can adapt to dissimilar stair climb building, this just requires that this robot has the size automatically identifying and judge stair, makes decisions on one's own on this basis to take suitable step-length and rising height to perform to climb building action.Therefore, enable horizontal attitude stair climbing robot in the complex environment of reality, still can reach the requirement of expection, must realize aforementioned two gordian techniquies, based on this, applicant have developed a kind of for the Intellisense of horizontal attitude stair climbing robot and the leg mechanism of execution.This mechanism comprises three parts, be respectively leg sensing mechanisms, data acquisition system (DAS) and leg up-down intelligent control system, Part I is leg sensing mechanisms, micro-force sensor is placed in leg mechanism, for the anchorage force of perceiving ground to robot leg, thus judge that leg declines to find stable support face the need of continuation, photoelectric displacement sensor is placed in leg mechanism front portion, detection objects in front, apart from the distance of leg, performs lifting and the stopping of leg according to distance; Part II is data acquisition system (DAS), mainly gathers the signal of force snesor and displacement transducer, sends after signal transacting into MCU; Part III is leg up-down intelligent control system, the signal that analysis of test system transmits, and the lifting action of algorithm Sum fanction to leg according to writing makes control.In order to be delivered to sensor in the face of the anchorage force of pin with ensureing, rubber blanket must exceed supporting seat lower surface, and to be delivered to base plate in the face of the extruding of foot with enabling, base plate extruding force induction contact, anchorage force is delivered to acquisition system the most at last.When leg is not with earth surface in addition, force snesor can not export electric signal, so make during the spring fitting between base plate and back up pad to be pressured state by turn bolt.Horizontal attitude stair climbing robot all should keep horizontal attitude at any time, so the present invention selects servo-electric push rod as execution leg.
Summary of the invention
The object of the invention is to break through above-mentioned two key technical problems, there is provided a set of can automatic sensing, automatic decision and execution the intelligent elevated mechanism of leg, horizontal attitude stair climbing robot is run and has more reliability, intellectuality and flexibility, expand the usable range of horizontal attitude stair climbing robot.
In order to achieve the above object, the invention provides a kind of for the Intellisense of stair climbing robot and the leg mechanism of execution, it is characterized in that, comprise supporting seat, force snesor, distance measuring sensor, spring, spring bearer plate and signals collecting and actuating mechanism controls module, described signals collecting and actuating mechanism controls module comprise electric pushrod, motor driver, capture card and STM32 Control card, described electric pushrod is connected with supporting seat, electric pushrod is driven by motor, motor connects motor driver, motor driver is connected with STM32 Control card by RS232 Serial Port Line, the output port of capture card is connected with STM32 Control card, input port is connected with distance measuring sensor with force snesor, described force snesor and distance measuring sensor are located in supporting seat, described spring bearer plate is hung on supporting seat by set bolt, the upper surface of spring bearer plate and the lower surface of supporting seat are all provided with counter sink, described spring is through on described set bolt, the two ends of spring are embedded in two described counter sinks, spring is compressive state, the contact of force snesor is located between spring bearer plate and supporting seat.
Preferably, described distance measuring sensor is threaded connection and is fixed in supporting seat.
Preferably, described force snesor is fixed in supporting seat by fixed head.
Preferably, top and the side opening of described supporting seat are porose, are respectively used to draw photoelectric sensor transmission line and force snesor transmission line.
Preferably, described supporting seat adopts hollow structure.
Preferably, the bottom of described supporting seat is fixedly connected with protective shield.
Preferably, described rubber blanket is bonded on the downside of spring bearer plate by seccotine.
Compared with prior art, the invention has the beneficial effects as follows:
Under the present invention is applicable to the occasion that horizontal attitude climbs building travel mechanism or robot differs in stair type, supporting surface uneven, supporting surface easily collapses, automatic identification judges and automatically adjusts, realize the function that safety is creeped and kept horizontal attitude, Shi Pa building and walking have more flexibility and intellectuality.Adopt the present invention, stair climbing robot lifting leg can Automatic-searching stable support face, avoids ground to occur subsiding and doing great damage to robot and load.What not only can adapt to different bench height by the displacement transducer of leg front portion and corresponding processing program climbs building, and can carry out the switching of climbing between building and walking in a horizontal state according to measured displacement, raises the efficiency.
Accompanying drawing explanation
Fig. 1 a is the structural drawing for the Intellisense of stair climbing robot and the leg mechanism of execution;
Fig. 1 b is A-A sectional view in Fig. 1 a, and Fig. 1 c is B-B sectional view in Fig. 1 a;
Fig. 2 is signals collecting of the present invention and actuating mechanism controls module information process flow diagram
Fig. 3 is the leg mechanism application drawing of Intellisense for stair climbing robot and execution.
Embodiment
Below in conjunction with specific embodiment, set forth the present invention further.Should be understood that these embodiments are only not used in for illustration of the present invention to limit the scope of the invention.In addition should be understood that those skilled in the art can make various changes or modifications the present invention, and these equivalent form of values fall within the application's appended claims limited range equally after the content of having read the present invention's instruction.
Embodiment
As illustrated by figures 1 a-1 c, of the present invention for the Intellisense of stair climbing robot and the leg mechanism of execution, comprise supporting seat 1, distance measuring sensor 2, spring bearer plate 3, rubber blanket 4, protective shield 5, force snesor 6, fixed head 8, electric pushrod 9, spring 12 and signals collecting and actuating mechanism controls module.As shown in Figure 2, as shown in Figure 2, described signals collecting and actuating mechanism controls module comprise electric pushrod, motor driver, capture card and STM32 Control card, described electric pushrod is connected with supporting seat 1 by pin, electric pushrod is driven by motor, motor and electric pushrod form push rod actuator, motor connects motor driver, motor driver is connected with STM32 Control card by RS232 Serial Port Line, the output port of capture card is connected with STM32 Control card, input port is connected with distance measuring sensor 2 with force snesor 6, described force snesor 6 and distance measuring sensor 2 are located in supporting seat 1, described spring bearer plate 3 is hung on supporting seat 1 by set bolt, the contact 13 of force snesor 6 is located between spring bearer plate 3 and supporting seat 1, the upper surface of spring bearer plate 3 and the lower surface of supporting seat 1 are all provided with counter sink, described spring 12 is through on described set bolt, the two ends of spring 12 are embedded in two described counter sinks, spring 12 is in compressive state, make spring bearer plate 3 can not contact with the contact 13 of force snesor 6 when not being subject to the anchorage force from ground and export electric signal.
Described distance measuring sensor 2 is threaded connection and is fixed in supporting seat 1.Described force snesor 6 is fixed in supporting seat 1 by fixed head 8.Top and the side opening of described supporting seat 1 are porose, are respectively used to draw photoelectric sensor transmission line 10 and force snesor transmission line 7.Described supporting seat 1 adopts aluminium material, adopts hollow structure, weight reduction.The bottom fixing screw of described supporting seat 1 connects protective shield 5, and protective shield 5 is for covering described hollow space, and described protective shield 5 adopts slim sheet metal component, covers bottom support member by screw, prevents foreign material from entering.Described rubber blanket 4 is bonded on the downside of spring bearer plate 3 by seccotine, and rubber blanket 4 adopts Shockproof rubber pad fast, after assembling, than supporting seat height 2mm.Described force snesor 6 is touch sensor.
Donghua University is adopted to climb floor platform as experiment porch, as shown in Figure 3 a, the leg mechanism of the described Intellisense and execution that are used for stair climbing robot is replaced the leg mechanism of traditional stair climbing robot, described stair climbing robot comprises upper plate and lower plate, upper plate can be relative movable with lower plate, described upper plate connects four covers and is used for the Intellisense of stair climbing robot and the leg mechanism of execution, lower plate connects two covers and is used for the Intellisense of stair climbing robot and the leg mechanism of execution, and described electric pushrod is as the leg of climbing robot.Described capture card, motor driver and STM32 Control card are arranged on climbing robot.
As Fig. 3 a and 3b, the electric pushrod that two covers that stair climbing robot lower plate connects are used for the Intellisense of stair climbing robot and the leg mechanism of execution starts lifting, before being lifted to a ladder height, distance measuring sensor in the supporting seat that this electric pushrod connects detects that front distance is in the scope of setting, described STM32 Control card is according to the signal of sensor signal to the motor driver transmission continuation lifting of corresponding electric pushrod, when this distance measuring sensor detects that front distance exceeds setting range, described STM32 Control card is according to the signal of sensor signal to the motor driver transmission stopping lifting of corresponding electric pushrod, then as shown in Figure 3 c, lower plate moves relative to upper plate.As shown in Figure 3 d, when lower plate connect for the Intellisense of stair climbing robot and the leg mechanism of execution before after electric pushrod sets foot on the first stage rank, lower plate moves stopping relative to upper plate, the electric pushrod of the two cover Intellisenses that lower plate connects and the leg mechanism of execution starts to extend downwards to seek supporting surface, then the electric pushrod lifting for the Intellisense of stair climbing robot and the leg mechanism of execution of four covers that plate connects is changed, perform the action similar to lower plate, so repeatedly, can realize climbing building action.The step surface first stage rank being changed into a resiliency compressible to subside situation to simulate supporting surface.With former climb floor platform perform action as shown in Figure 3 d time, make work top lose horizontal attitude because the first stage terrace constantly sink, time serious, toppling of whole platform can be caused.After using the present invention instead, when electric pushrod on the first stage rank seeks supporting surface downwards, step surface constantly sink, the power that described force snesor is experienced is always in significant change, this change changes into electric signal and is sent to STM32 Control card, STM32 Control card sends instruction, this electric pushrod continues to decline with a certain decline rate to seek secure support face, but when the power that described force snesor is experienced does not change, STM32 Control card sends the instruction stopping declining, change the electric pushrod lifting for the Intellisense of stair climbing robot and the leg mechanism of execution of four covers that plate connects, afterwards as shown in Figure 3 e, upper plate moves forward relative to lower plate, as illustrated in figure 3f, the electric pushrod that upper plate connects extends, so repeatedly, building action is climbed in realization.
Leg mechanism of the present invention is installed, in the debug phase, experiment image data can be done on different supporting surfaces, on the supporting surfaces such as such as road, for specific supporting surface, the stressed relation with the speed of subsiding of supporting surface is collected by debugging, according to the speed executive routine of real data correction STM32 Control card, the reliability that state of can improving the standard stair climbing robot performs and accuracy.

Claims (7)

1. one kind for the Intellisense of stair climbing robot and the leg mechanism of execution, it is characterized in that, comprise supporting seat (1), force snesor (6), distance measuring sensor (2), spring (12), spring bearer plate (3) and signals collecting and actuating mechanism controls module, described signals collecting and actuating mechanism controls module comprise electric pushrod, motor driver, capture card and STM32 Control card, described electric pushrod is connected with supporting seat (1), electric pushrod is driven by motor, motor connects motor driver, motor driver is connected with STM32 Control card by RS232 Serial Port Line, the output port of capture card is connected with STM32 Control card, input port is connected with distance measuring sensor (2) with force snesor (6), described force snesor (6) and distance measuring sensor (2) are located in supporting seat (1), described spring bearer plate (3) is hung on supporting seat (1) by set bolt, the upper surface of spring bearer plate (3) and the lower surface of supporting seat (1) are all provided with counter sink, described spring (12) is through on described set bolt, the two ends of spring (12) are embedded in two described counter sinks, spring (12) is in compressive state, the contact (13) of force snesor (6) is located between spring bearer plate (3) and supporting seat (1).
2. as claimed in claim 1 for the Intellisense of stair climbing robot and the leg mechanism of execution, it is characterized in that, described distance measuring sensor (2) is threaded connection and is fixed in supporting seat (1).
3. as claimed in claim 1 for the Intellisense of stair climbing robot and the leg mechanism of execution, it is characterized in that, described force snesor (6) is fixed in supporting seat (1) by fixed head (8).
4. as claimed in claim 1 for the Intellisense of stair climbing robot and the leg mechanism of execution, it is characterized in that, top and the side opening of described supporting seat (1) are porose, are respectively used to draw photoelectric sensor transmission line (10) and force snesor transmission line (7).
5. as claimed in claim 1 for the Intellisense of stair climbing robot and the leg mechanism of execution, it is characterized in that, described supporting seat (1) adopts hollow structure.
6. as claimed in claim 1 for the Intellisense of stair climbing robot and the leg mechanism of execution, it is characterized in that, the bottom of described supporting seat (1) is fixedly connected with protective shield (5).
7. as claimed in claim 1 for the Intellisense of stair climbing robot and the leg mechanism of execution, it is characterized in that, described rubber blanket (4) is bonded at spring bearer plate (3) downside by seccotine.
CN201510225490.XA 2015-05-05 2015-05-05 Intellisense and the leg mechanism of execution for stair climbing robot Expired - Fee Related CN105182836B (en)

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CN105182836B CN105182836B (en) 2017-10-24

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4993912A (en) * 1989-12-22 1991-02-19 Chamberlain Mrc, Division Of Duchossois Industries, Inc. Stair climbing robot
DE10219740A1 (en) * 2002-05-02 2003-11-27 Martin Christoph Schwaiger Device for moving apparatus in any direction over inclined surface has support frame and robot with two independently movable systems supported by vacuum and with one have free rotational axis
CN101032982A (en) * 2007-01-15 2007-09-12 江南大学 Automatic carrying machine working on stairs
CN103359198A (en) * 2013-07-08 2013-10-23 东华大学 All-directional horizontal-posture stair climbing robot, zero-radius turning method and stair climbing method
CN103895728A (en) * 2014-04-11 2014-07-02 南通大学 Horizontal-motion rotating leg type stair cleaning robot and stair go-up-and-down method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4993912A (en) * 1989-12-22 1991-02-19 Chamberlain Mrc, Division Of Duchossois Industries, Inc. Stair climbing robot
DE10219740A1 (en) * 2002-05-02 2003-11-27 Martin Christoph Schwaiger Device for moving apparatus in any direction over inclined surface has support frame and robot with two independently movable systems supported by vacuum and with one have free rotational axis
CN101032982A (en) * 2007-01-15 2007-09-12 江南大学 Automatic carrying machine working on stairs
CN103359198A (en) * 2013-07-08 2013-10-23 东华大学 All-directional horizontal-posture stair climbing robot, zero-radius turning method and stair climbing method
CN103895728A (en) * 2014-04-11 2014-07-02 南通大学 Horizontal-motion rotating leg type stair cleaning robot and stair go-up-and-down method

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