CN108762257A - A kind of robot ambulation control system based on frictional force automatic adjusument - Google Patents
A kind of robot ambulation control system based on frictional force automatic adjusument Download PDFInfo
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- CN108762257A CN108762257A CN201810422000.9A CN201810422000A CN108762257A CN 108762257 A CN108762257 A CN 108762257A CN 201810422000 A CN201810422000 A CN 201810422000A CN 108762257 A CN108762257 A CN 108762257A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 35
- 238000000034 method Methods 0.000 claims abstract description 22
- 230000008569 process Effects 0.000 claims abstract description 22
- 238000006073 displacement reaction Methods 0.000 claims abstract description 21
- 230000008054 signal transmission Effects 0.000 claims abstract description 17
- 239000000463 material Substances 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 abstract description 10
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Aviation & Aerospace Engineering (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of robot ambulation control systems based on frictional force automatic adjusument, are related to intelligent robot regulation and control system field.In the present invention：Power output monitoring unit is connected by data information/signal transmission module and main process task control unit；Walking displacement monitoring unit is connected by data information/signal transmission module and main process task control unit；Main process task control unit is connected by information/signal transmission form and friction regulation unit.The present invention is monitored the power output data information during robot ambulation by power output monitoring mode；Pass through displacement monitoring mode of walking, sensor monitoring is carried out to the real-time walking displacement of robot, and the ground table status residing for robot is analyzed by main process task control unit, by rubbing, regulation unit carries out rotation change to the walking contact material face of robot, to change the frictional force between robot and walking surface, and then the wheel efficiency of hoisting machine people.
Description
Technical field
The present invention relates to intelligent robot regulation and control system fields, more particularly to one kind being based on frictional force automatic adjusument
Robot ambulation control system.
Background technology
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run advance volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.Robot is generally by executing agency, driving device, inspection
Survey device and the compositions such as control system and complicated machinery.
In the operation walking process of robot, the walking surface that encounters may difference, on different walking surfaces
It walks, the efficiency of robot ambulation can be caused to reduce because of the change of frictional force, can not only reduce robot output in this way
Power conversion ratio, can also reduce the corresponding operation efficiency of robot；How so that robot according to the change of walk
Change and change corresponding walking supporting mechanism, become hoisting machine people power transfer efficiency itself and promotes operation efficiency
Important prerequisite.
Invention content
The robot ambulation control based on frictional force automatic adjusument that the technical problem to be solved in the present invention is to provide a kind of
System is monitored the power output data information during robot ambulation by power output monitoring mode；Pass through row
Displacement monitoring mode is walked, sensor monitoring is carried out to the real-time walking displacement of robot, and by main process task control unit to machine
Ground table status residing for people is analyzed, and by rubbing, regulation unit rotates the walking contact material face of robot
Change, to change the frictional force between robot and walking surface, and then the wheel efficiency of hoisting machine people.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions：
The present invention provides a kind of robot ambulation control system based on frictional force automatic adjusument, including walking adjusting machine
Device people and friction regulation and control system, interior friction regulation and control system includes main process task control unit；Rub regulation and control system
Interior includes hoofing part control unit；Main process task control unit passes through information/signal transmission module and hoofing part control unit
Driving is connected；The regulation and control system that rubs is interior to be equipped with power output monitoring unit；Power output monitoring unit by data information/
Signal transmission module is connected with main process task control unit；The regulation and control system that rubs is interior to be equipped with walking displacement monitoring unit；Walking
Displacement monitoring unit is connected by data information/signal transmission module and main process task control unit；It rubs in regulation and control system
Including the regulation unit that rubs；Main process task control unit passes through information/signal transmission form and friction regulation unit phase
Connection.
Wherein, it includes stroke power plant, the hoofing part control to rub in regulation and control system that walking, which is adjusted in robot,
Unit processed is connected by information/signal transmission and drive control mode with stroke power plant.
Wherein, walking adjusts and is equipped with power monitoring apparatus in robot, and power monitoring apparatus is turned by data information/signal
It changes and transmission mode is connected with the power output monitoring unit in friction regulation and control system.
Wherein, walking adjust robot be equipped with displacement sensing apparatus, displacement sensing apparatus by data information convert and
Transmission mode is connected with the walking displacement monitoring unit in friction regulation and control system.
Wherein, walking adjusts robot and is equipped with sole plate of material tumbler, the friction to rub in regulation and control system
Regulation unit is connected by information/signal drive control mode and sole plate of material tumbler.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention carries out corresponding walking motion by hoofing part control mode, driving walking robot；Pass through power
Monitoring mode is exported, the power output data information during robot ambulation is monitored；Pass through displacement monitoring side of walking
Formula carries out sensor monitoring to the real-time walking displacement of robot, and by main process task control unit to the earth's surface residing for robot
State is analyzed, and by rubbing, regulation unit carries out rotation change to the walking contact material face of robot, to change
Become the frictional force between robot and walking surface, and then the wheel efficiency of hoisting machine people.
Description of the drawings
Fig. 1 is the structural schematic diagram of the robot ambulation control system based on frictional force automatic adjusument of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention is a kind of robot ambulation control system based on frictional force automatic adjusument, including walking adjusting machine
People and friction regulation and control system, interior friction regulation and control system includes main process task control unit；It rubs in regulation and control system
Including hoofing part control unit；Main process task control unit is driven by information/signal transmission module and hoofing part control unit
It is dynamic to be connected；The regulation and control system that rubs is interior to be equipped with power output monitoring unit；Power output monitoring unit passes through data information/letter
Number transmission module is connected with main process task control unit；The regulation and control system that rubs is interior to be equipped with walking displacement monitoring unit；Walking position
Monitoring unit is moved to be connected by data information/signal transmission module and main process task control unit；The interior packet of the regulation and control system that rubs
Include friction regulation unit；Main process task control unit is connected by information/signal transmission form and friction regulation unit.
Further, it includes stroke power plant that walking, which is adjusted in robot, and the walking to rub in regulation and control system is driven
Dynamic control unit is connected by information/signal transmission and drive control mode with stroke power plant.
Further, walking, which is adjusted, is equipped with power monitoring apparatus in robot, power monitoring apparatus passes through data information/letter
Number conversion and transmission mode with rub regulation and control system in power output monitoring unit be connected.
Further, walking adjusts robot and is equipped with displacement sensing apparatus, and displacement sensing apparatus is turned by data information
It changes and transmission mode is connected with the walking displacement monitoring unit in friction regulation and control system.
Further, walking adjusts robot and is equipped with sole plate of material tumbler, rubs in regulation and control system
Friction regulation unit is connected by information/signal drive control mode and sole plate of material tumbler.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (5)
1. a kind of robot ambulation control system based on frictional force automatic adjusument, it is characterised in that：
Robot and friction regulation and control system are adjusted including walking, includes that main process task controls in the friction regulation and control system
Unit；
It include hoofing part control unit in the friction regulation and control system；
The main process task control unit is connected by information/signal transmission module and the driving of hoofing part control unit；
Power output monitoring unit is equipped in the friction regulation and control system；
The power output monitoring unit is connected by data information/signal transmission module and main process task control unit；
Walking displacement monitoring unit is equipped in the friction regulation and control system；
The walking displacement monitoring unit is connected by data information/signal transmission module and main process task control unit；
It include friction regulation unit in the friction regulation and control system；
The main process task control unit is connected by information/signal transmission form and friction regulation unit.
2. a kind of robot ambulation control system based on frictional force automatic adjusument according to claim 1, feature
It is：
It includes stroke power plant that the walking, which is adjusted in robot, the hoofing part control in the friction regulation and control system
Unit is connected by information/signal transmission and drive control mode with stroke power plant.
3. a kind of robot ambulation control system based on frictional force automatic adjusument according to claim 1, feature
It is：
The walking adjusts and is equipped with power monitoring apparatus in robot, and the power monitoring apparatus is turned by data information/signal
It changes and transmission mode is connected with the power output monitoring unit in friction regulation and control system.
4. a kind of robot ambulation control system based on frictional force automatic adjusument according to claim 1, feature
It is：
The walking adjusts robot and is equipped with displacement sensing apparatus, and the displacement sensing apparatus is converted and passed by data information
Defeated mode is connected with the walking displacement monitoring unit in friction regulation and control system.
5. a kind of robot ambulation control system based on frictional force automatic adjusument according to claim 1, feature
It is：
The walking adjusts robot and is equipped with sole plate of material tumbler, the friction tune in the friction regulation and control system
Section control unit is connected by information/signal drive control mode and sole plate of material tumbler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810422000.9A CN108762257A (en) | 2018-05-04 | 2018-05-04 | A kind of robot ambulation control system based on frictional force automatic adjusument |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810422000.9A CN108762257A (en) | 2018-05-04 | 2018-05-04 | A kind of robot ambulation control system based on frictional force automatic adjusument |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050075755A1 (en) * | 2001-12-28 | 2005-04-07 | Honda Giken Kogyo Kabushiki Kaisha | Gait generation device for legged mobile robot |
| CN101353064A (en) * | 2008-09-19 | 2009-01-28 | 北京航空航天大学 | Ground to wall transition wall gecko-intimating robot |
| CN102591341A (en) * | 2011-01-05 | 2012-07-18 | 泰怡凯电器(苏州)有限公司 | Movement control method of glass-cleaning robot and control system thereof |
| CN102591339A (en) * | 2011-01-05 | 2012-07-18 | 泰怡凯电器(苏州)有限公司 | Window wiping robot position adjusting control system and control method thereof |
| CN104252173A (en) * | 2013-06-27 | 2014-12-31 | 广州中国科学院先进技术研究所 | Walking control method of biped walking robot |
| US9387896B1 (en) * | 2014-08-25 | 2016-07-12 | Google Inc. | Slip avoidance |
| CN106428283A (en) * | 2016-11-30 | 2017-02-22 | 西南大学 | Inner wall corner climbing robot |
| US9618937B1 (en) * | 2014-08-25 | 2017-04-11 | Google Inc. | Slip detection using robotic limbs |
| CN107322616A (en) * | 2017-07-24 | 2017-11-07 | 合肥星袖机械科技有限公司 | A kind of material transportation robot automatic transporting control system |
-
2018
- 2018-05-04 CN CN201810422000.9A patent/CN108762257A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050075755A1 (en) * | 2001-12-28 | 2005-04-07 | Honda Giken Kogyo Kabushiki Kaisha | Gait generation device for legged mobile robot |
| CN101353064A (en) * | 2008-09-19 | 2009-01-28 | 北京航空航天大学 | Ground to wall transition wall gecko-intimating robot |
| CN102591341A (en) * | 2011-01-05 | 2012-07-18 | 泰怡凯电器(苏州)有限公司 | Movement control method of glass-cleaning robot and control system thereof |
| CN102591339A (en) * | 2011-01-05 | 2012-07-18 | 泰怡凯电器(苏州)有限公司 | Window wiping robot position adjusting control system and control method thereof |
| CN104252173A (en) * | 2013-06-27 | 2014-12-31 | 广州中国科学院先进技术研究所 | Walking control method of biped walking robot |
| US9387896B1 (en) * | 2014-08-25 | 2016-07-12 | Google Inc. | Slip avoidance |
| US9618937B1 (en) * | 2014-08-25 | 2017-04-11 | Google Inc. | Slip detection using robotic limbs |
| CN106428283A (en) * | 2016-11-30 | 2017-02-22 | 西南大学 | Inner wall corner climbing robot |
| CN107322616A (en) * | 2017-07-24 | 2017-11-07 | 合肥星袖机械科技有限公司 | A kind of material transportation robot automatic transporting control system |
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Application publication date: 20181106 |