CN105599821B - The bionical quadruped robot of electric drive and control method with environment sensing ability - Google Patents
The bionical quadruped robot of electric drive and control method with environment sensing ability Download PDFInfo
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- CN105599821B CN105599821B CN201610006061.8A CN201610006061A CN105599821B CN 105599821 B CN105599821 B CN 105599821B CN 201610006061 A CN201610006061 A CN 201610006061A CN 105599821 B CN105599821 B CN 105599821B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The invention discloses the bionical quadruped robot of electric drive and control method with environment sensing ability, head is hinged by neck, head connecting rod and preceding trunk, and head and neck linkage, preceding trunk and rear trunk are hinged；The rear portion of trunk is equipped with tail portion afterwards, and tail portion also passes through tail portion connecting rod and preceding trunk is hinged；The two sides of preceding trunk are respectively equipped with foreleg, and the two sides of rear trunk are respectively equipped with back leg；The length of back leg is longer than foreleg；The widest part of preceding trunk is wider than the widest part of rear trunk；It further include environment sensing sensor group and camera, environment sensing sensor group, camera and central processing unit connect, the output end connection electric drive of central processing unit executes system, and power management module is that environment sensing sensor group, central processing unit and electric drive execute system power supply.Using electric drive control mode, realize bionical quadruped robot to the dynamic sensing of environment, independent navigation, follow in real time and the bionical gait motion of adaptation to the ground variation and random disturbances is planned.
Description
Technical field
The present invention relates to bio-robot technical field more particularly to a kind of electric drive with environment sensing ability are bionical
Quadruped robot and control method.
Background technique
From the point of view of robot motion mode, robot is broadly divided into wheeled robot, caterpillar type robot and leg foot formula
Robot three classes.Relative to wheeled or caterpillar type robot, the movement of leg foot formula has superior not available for wheeled or crawler type
Characteristic:
(1) movement of leg foot formula fall foot point be it is discrete, optimal supporting point can be selected in the reachable tree of foot, can be with
Leaping over obstacles improves the adaptability to rugged ground.
(2) leg foot formula movement is able to achieve all-around mobile, moves more flexible.
(3) movement of leg foot formula can be with active vibration isolation, i.e. trunk center of mass motion track and sufficient end track decouples, in ground height
Usually body still can held stationary.
(4) leg foot formula movement is still able to achieve higher movement speed on uneven or loose ground, and energy consumption will not be significant
Increase.
Currently, in world wide, some countries expand extensive research to quadruped robot, achieve it is plentiful and substantial at
After fruit, especially boston, U.S.A power (Boston Dynamics) have issued hydraulic quadruped robot BigDog, in the world
The upsurge that the hydraulic quadruped robot of research has been started in range, as Korean Industrial Institute for Research and Technology has developed hydraulic motor driving
Quadruped robot, the Italian Institute of Technology have developed the quadruped robot HyQ of electro-hydraulic combination drive, and subsequent Boston power is sent out again
Cloth AlphaDog and LS3 quadruped robot, has in terms of disturbance rejection, load capacity and adaptive capacity to environment and significantly mentions
It rises.
At home, the colleges and universities such as Tsinghua University, Shandong University, Harbin Institute of Technology and Central China University of Science and Technology are also being engaged in four
The R&D work of sufficient bio-robot, and achieve certain achievement.
From the current study, the driving method of quadruped robot is divided into hydraulic-driven and electric drive two major classes.
Hydraulic-driven quadruped robot has its advantage in terms of high dynamic, high load capability, but there are power consumption greatly and
The problems such as noise is big.
The freedom degree of electric drive quadruped robot is relatively fewer, moves inflexible；It is poor to the sensing capability of environment, it is difficult to
Adapt to complicated ground motion.
Summary of the invention
The purpose of the present invention is to solve the above-mentioned problems, and it is imitative to provide a kind of electric drive with environment sensing ability
Raw quadruped robot and control method, simulate quadruped mammal posture, and design head, trunk, leg and tail portion integrate pass more
Sensor, including visual sensor, ultrasonic sensor, infrared sensor, audio sensor, pressure sensor, three axial rakes sensing
Device, touch sensor etc., using electric drive control mode, realize bionical quadruped robot to the dynamic sensing of environment, from leading
Boat, in real time follow and adaptation to the ground variation and random disturbances bionical gait motion plan.
To achieve the goals above, the present invention adopts the following technical scheme:
The bionical quadruped robot of electric drive with environment sensing ability, including head, the head pass through neck, head
Connecting rod and preceding trunk are hinged, and head and neck linkage, the preceding trunk and rear trunk are hinged；The rear portion of trunk is equipped with tail after described
Portion, the tail portion also passes through tail portion connecting rod and the preceding trunk is hinged, realizes the linkage of tail portion and preceding trunk；The preceding trunk
Two sides are respectively equipped with foreleg, and the two sides of the rear trunk are respectively equipped with back leg；The length of the back leg is longer than foreleg；The preceding body
Dry the widest part is wider than the widest part of rear trunk；It further include environment sensing sensor group and camera, the environment sensing sensing
Device group, camera and central processing unit connect, and the output end connection electric drive of the central processing unit executes system, power management
Module is that the environment sensing sensor group, central processing unit and electric drive execute system power supply.
The environment sensing sensor group include visual sensor, ultrasonic sensor, infrared sensor, audio sensor,
Pressure sensor, three axial rake sensors and touch sensor.
One end in the both ends of the tail portion is equipped with upper and lower two hinge joints, and the rear trunk is upper hinged with the tail portion
Point articulated, the lower link point of the tail portion and one end of the tail portion connecting rod are hinged, the other end of the tail portion connecting rod with it is described
Preceding trunk is hinged.
The control method of the bionical quadruped robot of electric drive with environment sensing ability, the acquisition of environment sensing sensor group
External environment and itself posture information, central processing unit are adopted by the environment sensing sensor group that the processing of decision-making level's strategy receives
The information of collection makes the reaction of owner's identification and sufficient end path planning, generates corresponding control signal control electric drive and executes system
System executes movement.
Sufficient end paths planning method includes establishing four key point coordinate systems, by coordinate transformation equation, by robot weight
Heart trajectory planning is transformed into sufficient end trajectory planning, selects different three-dimensional space tracks to obtain different movement effects, by anti-
Joint of robot exercise data is obtained after transformation, control signal is exported to electric drive and executes system.
The processing of decision-making level's strategy needs to merge multiple sensors information, using the Weighted Average Algorithm of addition priority factors
Seek the result of decision；Sensor information after filtering, normalization, first with priority factors operation, using being weighted and averaged
The result of decision to the end.
It includes: that template is made in owner's image data that owner, which knows method for distinguishing, and in the database, camera collects master for storage
After the image of face, Kalman filtering is first passed around, mitigates the influence of illumination, rotation, expression to face, then utilizes integral
The method of projection determines face feature point, extracts the template of local feature, then carries out localized mode with owner's template of database
Plate matching, judges whether to be owner.
It further include gestural control method, two including left and right settings infrared sensor, each bifurcated of system mode is 4
Kind, time parameter is inserted into using quaternary tree ergodic algorithm, and in quaternary tree traversal；From a tree node toward next branches and leaves
During node traverses, judge whether time parameter is limiting in range, is then continuing to walk toward next node, be less than range
It since left and right sensor differences enter by mistake through, needs to jump to top-most node, go beyond the scope, return to a node layer；Minimum one
The final result of node layer expression gesture.
It further include the control method of tracking, the method merged using infrared sensor and ultrasonic sensor, with infrared sensing
Device testing result is become as effective following range, the Processing Algorithm of infrared sensor using quaternary tree ergodic algorithm binding time
Amount adds ultrasonic sensor Processing Algorithm integer programming algorithm in effective following range, and the range data of ultrasonic wave is as change
Amount, decision factor are a fixed values by debugging setting, and the result of product of range data and decision factor is as movement knot
Fruit reference quantity, motion result reference quantity finally obtain motion result by cutting plane algorithm.
Walking uses sliding steps gait planning, and balance control strategy selects the stability margin in robot stabilization criterion, when
When stability margin exceeds stability range value, the posture of robot is adjusted with strategy is swung arm in conjunction with strategy of squatting down, until restoring steady
Determine state.
Beneficial effects of the present invention:
The present invention is based on infrared sensing obstacle identifications, realize " gesture control " function, can either accurately retrieve gesture
As a result, keeping the time range of gesture motion wider, it is also able to solve the detecting distance inconsistence problems of left and right sensor.
The present invention contains multiple sensors, using electric drive control mode, realizes that bionical quadruped robot moves environment
State perception, independent navigation, in real time follow and adaptation to the ground variation and random disturbances bionical gait motion plan.
Detailed description of the invention
Fig. 1 is top view of the invention；
Fig. 2 is front view of the invention；
Fig. 3 is foreleg standing schematic diagram；
Fig. 4 is rearings schematic diagram；
Fig. 5 is axonometric drawing of the invention；
Fig. 6 is the structural schematic diagram of power management module；
Fig. 7 is control system architecture figure of the invention；
Fig. 8 is context aware systems figure；
Fig. 9 is that electric drive executes system.
Wherein, 1. head, trunk before 2., trunk after 3., 4. tail portions, 5. head connecting rods, 6. necks, 7. tail portion connecting rods, 8.
Waist, 9. forelegs, 10. back legs, 11. elastic damping bodies, 12. first forearms, 13 second forearms, 14 first postbrachiums, after 15 second
Arm,
9.1 shoulder sideway joints, 9.2 shoulder pitch joints, 9.3 ancon pitching joints, 9.4 wrist joints；
10.1 hip sideway joints, 10.2 hip knee pitching joints, 10.3 ankle-joints, 10.4 articulations digitorum manus.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
As shown in Figs. 1-2, with the bionical quadruped robot of electric drive of environment sensing ability, including head 1, the head
2 is hinged by neck 6, head connecting rod 5 and preceding trunk 2, and head 1 and neck 6 link, and the preceding trunk 2 and rear trunk 3 are hinged；
The rear portion of trunk 3 is equipped with tail portion 4 after described, and the tail portion 4 is also hinged by tail portion connecting rod 7 and the preceding trunk 2, realizes tail portion
4 with the linkage of preceding trunk 2；The two sides of the preceding trunk 2 are respectively equipped with foreleg 9, and the two sides of the rear trunk 3 are respectively equipped with back leg
10；The length of the back leg 10 is longer than foreleg 9；The widest part of the preceding trunk 2 is wider than the widest part of rear trunk 3；It further include ring
Border detecting sensor group and camera, the environment sensing sensor group, camera and central processing unit connect, the centre
The output end connection electric drive for managing device executes system, and power management module is the environment sensing sensor group, central processing unit
And electric drive executes system power supply.
The environment sensing sensor group include visual sensor, ultrasonic sensor, infrared sensor, audio sensor,
Pressure sensor, three axial rake sensors and touch sensor.
The present embodiment provides a kind of specific structure of robot.
As shown in Figs. 1-2, preceding trunk 2 includes the preceding trunk front successively to connect, preceding trunk middle part and preceding trunk rear portion, institute
The width of trunk front is less than the width at preceding trunk rear portion before stating, and the width at the preceding trunk rear portion is less than the width in the middle part of preceding trunk
Degree.After described trunk includes the rear trunk front successively to connect, in the middle part of rear trunk and rear trunk rear portion, it is described after trunk rear portion
Width is less than the width of rear trunk front, and the width of the rear trunk front is less than the width in the middle part of rear trunk.
The preceding trunk rear portion and rear trunk front are hinged, form waist 8.Whole in this way is that shoulder breadth hip is narrow, in addition waist 8
Freedom degree, it is overall that the thin structure in front wide and rear narrow centre is presented so that posture is more graceful.Front and back trunk is individually designed, passes through
The connection of 8 freedom degree of waist, 8 freedom degree of waist can realize the opposite pitching movement of front and back trunk so that mass motion more coordinate,
Stablize.
The preceding trunk front and one end of the neck 6 and one end of head connecting rod 5 are all hinged, the neck 6 it is another
The other end of one end and head connecting rod 5 is all hinged with head 1.The both ends of neck 6 and head connecting rod 5 are separately fixed at 1 He of head
Preceding trunk, four hinge joints form the closing quadrangle of four freedom degrees, free by the active of neck 6 and preceding trunk junction
Degree realizes neck linkage effect.The advantages of head 5 mechanism of connecting rod, is: can guarantee when adjusting 1 sensor relative position of head,
Do not change posture of the sensor with respect to trunk, guarantees effective range of the measurement field relative to trunk.
One end in the both ends of the tail portion 4 is equipped with upper and lower two hinge joints, the rear trunk rear portion and the tail portion 4
Upper link point is hinged, and the lower link point of the tail portion 4 and one end of the tail portion connecting rod 7 are hinged, the tail portion connecting rod 7 it is another
It holds hinged with the preceding trunk rear portion.It is linked by tail portion connecting rod 7 and 8 freedom degree of waist tail portion 4.The two-end-point of tail portion connecting rod 7
Trunk and tail portion 4 before being respectively hinged at, tail portion 4 and the hinge joint of rear trunk 3 and the hinge joint of waist 8, form four certainly in addition
By the closing quadrangle spent, the linkage effect of tail portion 4 is realized by 8 active freedom degree of waist.Can according to the back-and-forth motion on head 1,
And the relative movement of tail portion 4 is driven by waist 8, so that whole mass center be kept to stablize during figure moves and adjusts.
As shown in Figure 3 and Figure 5, the foreleg 9 includes shoulder sideway joint 9.1, the upper end in shoulder sideway joint 9.1
Trunk 2 before hinged, lower end pass through ancon pitching by hinged first forearm 12 in shoulder pitch joint 9.2, first forearm 12
Hinged second forearm 13 in joint 9.3, second forearm 13 by the hinged front toe of wrist joint 9.4, second forearm 13 with
Elastic damping body 11 is connected between front toe.
As shown in Figure 4 and Figure 5, the back leg 10 includes hip sideway joint 10.1, hip sideway joint 10.1
Hingedly rear trunk 3, lower end pass through hinged first postbrachium 14 in hip knee pitching joint 10.2 for upper end, and first postbrachium 14 passes through ankle and closes
Save hinged 10.3 second postbrachium 15, second postbrachium 15 passes through toe after articulations digitorum manus hinged 10.4, second postbrachium 15 with
Elastic damping body 11 is connected between toe afterwards.
Quadruped mammal hip joint and leg skeletal structure are copied, using the scheme different with 10 size of back leg of foreleg 9,
By the different connector of foreleg 9, back leg 10,10 connector of back leg it is slightly longer and at must angle, 10 driving power of back leg
It is larger.Foreleg 9, back leg 10 include three active freedom degrees and a driven degree of freedom；In terms of the topology of joint, use
Full elbow formula joint topology, the driving of 10 leg portion of back leg use the structure of hip knee one, and range is put after increase, and the ankle of back leg 10 closes
Section can play the effect for adjusting that leg length and auxiliary are had an effect.Its advantage is that increase and optimize the working space of leg,
Sufficient end has bigger and effective motion range, and the high speed that is more suitable walks or runs, the more bionical joint topology of use
Structure, so that standing posture is more attractive, lively；And when moving, foreleg 9 turns to and auxiliary drive, and back leg 10 drives, and improves fortune
Dynamic mobility, and make movement more freely, it is bionical.
Using the elastic shock attenuation body of exclusive articulations digitorum manus, the wrist for being separately mounted to foreleg 2 closed for foreleg 9 of the present invention, back leg 10
Between section and front toe and between the articulations digitorum manus and rear toe of back leg 10.Certainly by elastic shock attenuation body and driven wrist joint
By degree and articulations digitorum manus freedom degree, the shock of leg and ground is reduced, plays protection driver, the work for keeping torso exercise stable
With.
Rearwardly 4 directions tilt for the lower end in the 10 hip knee pitching joint of back leg as shown in Figure 3.It is back leg 10 than foreleg 2
The part grown provides space.
The elastic damping body 11 is compressed spring, rubber spring, complex spring, oil gas or air spring.
The head cervical of robot is made of two freedom degrees: a head joint that can be rotated left and right, one can be former
The neck joint rotated afterwards.
The backbone of robot includes one degree of freedom: may be implemented to bend over, swing back.
Each leg of robot is made of three degree of freedom: the hip joint that can laterally rotate, can front and back rotation
Hip joint and knee joint, such robot foot end have a three-dimensional reachable tree, reduce quadruped robot complexity
Property while, the leg of robot can complete swing, sideshake etc. movement, this completes robot smoothly
The movements such as walking, steering, and can walk in rugged landform.
There is one degree of freedom in the tail portion of robot: realizing swinging up and down for tail.
Robot head, trunk, leg foot, tail portion totally 16 freedom degrees, are driven by motor respectively.Electric drive executes system packet
Include four motor, retarder, position detection component parts.
Motor is main execution unit, motion range from 0 ° to 270 °, ensure that can movable space, meet robot
Freedom degree requirement.Structure design combines motor and leg, is designed to integrated leg portions, is easily installed replacement.
Motor of the selection of Motor with position sensor does not need to increase additional sensor.
It is driven using PWM mode.It is as shown in Figure 9 that electric drive executes system.
As shown in fig. 6, the power management module includes voltage detection module, current detection module and electric power detection mould
Block, electric power detection module are connect with battery, current detection module, voltage detection module；Voltage detection module is isolated by third
Module is connect with the central processing unit；Electric power detection module connects the first regulating filtering module, and the first regulating filtering module is logical
It crosses the first isolation module to connect with the central processing unit, electric power detection module is held by the second regulating filtering module with electric drive
The connection of row system, electric drive execute system and are connect by the second isolation module with the central processing unit.
Robot uses 7.2V lithium battery power supply.Capacity is 3500mAh, and battery volume only 68*38*18mm is being ensured
It provides a system to enough electricity simultaneously, saves occupied space, increase robot by more functional modules in inside.
Under certain specific gaits, operating current can increase suddenly for robot, and with high-frequency harmonic, therefore system is set
The circuits such as power-supply management system, including voltage detecting, current detecting, electric power detection, pressure stabilizing design, harmonic absorption are counted.Power supply
Management system further comprises isolation design, by the isolated from power of control system and kinematic system, it is ensured that the power supply wave of kinematic system
It is dynamic to will not influence control system.Power management section block diagram is as indicated with 6.
Voltage detecting major function is monitoring system voltage, provides alarm signal in electric voltage exception.What it is due to monitoring is
Battery voltage signal, therefore third isolation module selection integrated linear opto-coupler chip is isolated, and seldom peripheral circuit is used
Realize the isolation detection of voltage.
Current detection circuit monitoring system electric current provides protection signal when encountering abnormal (such as motor rotation blockage) situation,
System power supply is disconnected, system other devices are protected.The self-recovery fuse for having used low cost, automatically cuts off in system overcurrent
Power supply circuit plays a protective role；System power can continue to use after restoring normal, not need frequently to replace fuse.
Charge information is provided in time to user while electric quantity detection function is protection battery, and information about power is supplied to automatically
Charging system guarantees that robot continuously operates normally in case of constant power.Electric power detection uses the integrated chip of TI company,
Play the role of simplified circuit design.
Pressure stabilizing designs the voltage provided in safe range to driving motor, protects motor (rigid under the different conditions of battery
Fully charged or use a period of time) it can be safely operated, it not will receive the influence of cell voltage.Harmonic absorption design absorbs fortune
The high-frequency harmonic that dynamic system generates, protects battery and interlock circuit.
Second isolation module uses multi-channel high-speed photoelectric coupled device, selects the small package of Japanese NEC Corporation's production
Chip PS2805 meets the needs of circuit integration design.
The control method of the bionical quadruped robot of electric drive with environment sensing ability, the acquisition of environment sensing sensor group
External environment and itself posture information, central processing unit are adopted by the environment sensing sensor group that the processing of decision-making level's strategy receives
The information of collection makes the reaction of owner's identification and sufficient end path planning, generates corresponding control signal control electric drive and executes system
System executes movement.
Robot passes through the place to heat transfer agent by multi-sensor collection external environment and itself posture information, controller
Reason carries out path and motion planning, generates corresponding control signal and is output to electric drive execution unit, controls corresponding freedom degree
Movement.Control system entire block diagram is as shown in Figure 7.
Control system central processing unit selects the double-core CPU of DSP+ARM, and DSP core is responsible for algorithm operation, such as the road Zu Duan
Diameter planning algorithm, sensing system related algorithm etc.；ARM kernel is responsible for the acquisition, conversion, communication, control letter of sensor information
Number output, decision-making level's strategy processing etc. work.Double-core CPU takes full advantage of the operational capability of DSP and the processing capacity of ARM, both
It can make up for it deficiency of the monokaryon CPU in terms of different disposal ability, also can reduce control system complexity, reduce control system
Volume.
Sufficient end paths planning method, establishes four key point coordinate systems, in the present embodiment, using robot center of gravity as coordinate original
Point establishes (X0, Y0, Z0) coordinate system, establishes (X1, Y1, Z1) coordinate system by coordinate origin of trunk hip joint, with thigh hip pass
Section is that coordinate origin establishes (X2, Y2, Z2) coordinate system, establishes (X3, Y3, Z3) coordinate system by coordinate origin of knee joint, passes through
The planning of robot barycenter trajectory is transformed into sufficient end trajectory planning, different three-dimensional space tracks is selected to obtain by coordinate transformation equation
To different movement effects, joint of robot exercise data is obtained after inverse transformation, is exported control signal and is held to electric drive
Row system.
The processing of decision-making level's strategy needs to merge multiple sensors information, using the Weighted Average Algorithm of addition priority factors
Seek the result of decision；Sensor information after filtering, normalization, first with priority factors operation, using being weighted and averaged
The result of decision to the end.
Robot is integrated with multiple sensors, including visual sensor, ultrasonic sensor, infrared sensor, audio sensing
Device, pressure sensor, three axial rake sensors etc., as shown in Figure 8.By the fusion to these sensor informations, robot is real
Now to the detection of external environment, perception to itself pose, motion information, and the anti-of the simulation mankind can be made according to environment
It answers, such as the behaviors such as identification owner, gesture control, tracking, avoidance, tracking, rough ground walking, voice answer-back, realizes machine
Part in people's definition about " people ".
It includes: that template is made in owner's image data that owner, which knows method for distinguishing, and in the database, camera collects master for storage
After the image of face, Kalman filtering is first passed around, mitigates the influence of illumination, rotation, expression to face, then utilizes integral
The method of projection determines face feature point, extracts the template of local feature, then carries out localized mode with owner's template of database
Plate matching, judges whether to be owner.
It further include gestural control method, two including left and right settings infrared sensor, each bifurcated of system mode is 4
Kind, time parameter is inserted into using quaternary tree ergodic algorithm, and in quaternary tree traversal；From a tree node toward next branches and leaves
During node traverses, judge whether time parameter is limiting in range, is then continuing to walk toward next node, be less than range
It since left and right sensor differences enter by mistake through, needs to jump to top-most node, go beyond the scope, return to a node layer；Minimum one
The final result of node layer expression gesture.The method accurately can either retrieve gesture as a result, making the time model of gesture motion
It encloses wider, is also able to solve the detecting distance inconsistence problems of left and right sensor.
It further include the control method of tracking, the method merged using infrared sensor and ultrasonic sensor, with infrared sensing
Device testing result is become as effective following range, the Processing Algorithm of infrared sensor using quaternary tree ergodic algorithm binding time
Amount adds ultrasonic sensor Processing Algorithm integer programming algorithm in effective following range, and the range data of ultrasonic wave is as change
Amount, decision factor are a fixed values by debugging setting, and the result of product of range data and decision factor is as movement knot
Fruit reference quantity, only there are five types of integer values for motion result: advances, retreats, turns left, turns right, is as you were, motion result reference quantity warp
It crosses cutting plane algorithm and finally obtains motion result.
It based on the processing of voice sensing, realizes " speech recognition response ", selects the core with signer-independent sign language recognition technology
Piece LD3320, master control ARM and identification chip are communicated using spi bus, and control command is written toward identification chip in master control ARM,
Such as voice command, the bootrom being arranged using the Chinese phonetic alphabet start to identify etc..Identification sensor is connected to identification core
Above piece, the process of identification is completed by chip interior algorithm, and sends the result to master control ARM.Master control ARM completes recognition result
Response processing, including movement voice answer-back (unspecified person issues " advance " voice command, and robot starts forward motion), switching
System control model (such as avoidance walking mode is converted by gesture control mode), voice output response (robot broadcasting pair
Answer voice, music) etc..
It is handled, is realized " Shared control " and " statokinetic " based on pressure sensing and inclination angle sensing.In conjunction with walking and machine
People balances control strategy control.Walking balances control strategy and then robot stabilization is selected to sentence using sliding steps gait planning
Stability margin in, three axis attitude angles determine stability margin as state variable.When stability margin exceeds stability range value
When, the posture of robot is adjusted with strategy is swung arm in conjunction with strategy of squatting down, until restoring stable state.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. the bionical quadruped robot of electric drive with environment sensing ability, including head, characterized in that the head passes through neck
Portion, head connecting rod and preceding trunk are hinged, and head and neck linkage, the preceding trunk and rear trunk are hinged；After described after trunk
Portion is equipped with tail portion, and the tail portion also passes through tail portion connecting rod and the preceding trunk is hinged, realizes the linkage of tail portion and preceding trunk；It is described
The two sides of preceding trunk are respectively equipped with foreleg, and the two sides of the rear trunk are respectively equipped with back leg；The length of the back leg is longer than foreleg；
The widest part of the preceding trunk is wider than the widest part of rear trunk；It further include environment sensing sensor group and camera, the environment
Detecting sensor group, camera and central processing unit connect, and the output end connection electric drive of the central processing unit executes system,
Power management module is that the environment sensing sensor group, central processing unit and electric drive execute system power supply；
The both ends of neck and head connecting rod are separately fixed at head and preceding trunk, and four hinge joints form the closing of four freedom degrees
Quadrangle realizes neck linkage effect by the active freedom degree of neck and preceding trunk junction；
Foreleg includes three active freedom degrees and a driven degree of freedom, is closed using full elbow formula joint topology, including shoulder sideway
Section, the upper end in shoulder sideway joint hingedly before trunk, lower end is by hinged first forearm in shoulder pitch joint, described first
Forearm passes through the hinged front toe of wrist joint by hinged second forearm in ancon pitching joint, second forearm.
2. as described in claim 1 with the bionical quadruped robot of electric drive of environment sensing ability, characterized in that the environment
Detecting sensor group includes that visual sensor, ultrasonic sensor, infrared sensor, audio sensor, pressure sensor, three axis incline
Angle transducer and touch sensor.
3. electric drive four-leg bionic as described in claim 1 robot, characterized in that one end in the both ends of the tail portion is equipped with
Upper and lower two hinge joints, the rear trunk and the upper link point of the tail portion are hinged, the lower link point of the tail portion and the tail
One end of portion's connecting rod is hinged, and the other end of the tail portion connecting rod and the preceding trunk are hinged.
4. special based on the control method of the bionical quadruped robot of electric drive described in claim 2 with environment sensing ability
Sign is that environment sensing sensor group acquisition external environment and itself posture information, central processing unit are handled by decision-making level's strategy
The information of the environment sensing sensor group acquisition received makes the reaction of owner's identification and sufficient end path planning, generates corresponding
Control signal control electric drive execute system execute movement.
5. the control method of the bionical quadruped robot of electric drive with environment sensing ability as claimed in claim 4, feature
It is that sufficient end paths planning method includes establishing four key point coordinate systems, by coordinate transformation equation, by robot center of gravity rail
Mark planning is transformed into sufficient end trajectory planning, selects different three-dimensional space tracks to obtain different movement effects, by inverse transformation
Joint of robot exercise data is obtained later, control signal is exported to electric drive and executes system.
6. the control method of the bionical quadruped robot of electric drive with environment sensing ability as claimed in claim 4, feature
It is that the processing of decision-making level's strategy needs to merge multiple sensors information, is asked certainly using the Weighted Average Algorithm of addition priority factors
Plan result；Sensor information, first with priority factors operation, obtains most after filtering, normalization using weighted average
The result of decision afterwards.
7. the control method of the bionical quadruped robot of electric drive with environment sensing ability as claimed in claim 4, feature
It is that it includes: that template is made in owner's image data that owner, which knows method for distinguishing, and in the database, camera collects owner's face for storage
After the image in portion, Kalman filtering is first passed around, mitigates the influence of illumination, rotation, expression to face, then utilizes integral projection
Method determine face feature point, extract the template of local feature, then carry out local template with owner's template of database
Match, judges whether to be owner.
8. the control method of the bionical quadruped robot of electric drive with environment sensing ability as claimed in claim 4, feature
Being further includes gestural control method, two including left and right settings infrared sensor, and each bifurcated of system mode is 4 kinds, is used
Quaternary tree ergodic algorithm, and time parameter is inserted into quaternary tree traversal；From a tree node toward next branches and leaves node time
During going through, judge whether time parameter is limiting in range, is then continuing to walk toward next node, be due to a left side less than range
Right sensor differences enter by mistake through, and need to jump to top-most node, go beyond the scope, and return to a node layer；A minimum node layer
Indicate the final result of gesture.
9. the control method of the bionical quadruped robot of electric drive with environment sensing ability as claimed in claim 4, feature
It is the control method for further including tracking, the method merged using infrared sensor and ultrasonic sensor is detected with infrared sensor
As a result it is used as effective following range, the Processing Algorithm of infrared sensor uses quaternary tree ergodic algorithm binding time variable, having
It imitates and adds ultrasonic sensor Processing Algorithm integer programming algorithm in following range, the range data of ultrasonic wave is as variable, decision
The factor is a fixed value by debugging setting, and the result of product of range data and decision factor is as motion result reference
Amount, motion result reference quantity finally obtain motion result by cutting plane algorithm.
10. the control method of the bionical quadruped robot of electric drive with environment sensing ability as claimed in claim 4, feature
It is that walking uses sliding steps gait planning, and balance control strategy selects the stability margin in robot stabilization criterion, abundant when stablizing
When amount is beyond stability range value, the posture of robot is adjusted with strategy is swung arm in conjunction with strategy of squatting down, until restoring stable state.
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