CN110262532A - A kind of robot landform processing and more landform gait control method and system - Google Patents
A kind of robot landform processing and more landform gait control method and system Download PDFInfo
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Abstract
The invention discloses a kind of processing of robot landform and more landform gait control method and system, and the method comprising the steps of: driving swing phase foot structure is all around swung；It compares swing phase inclination data and ground clearance data and prestores basic data, if rationally, continuing, if unreasonable, call extreme terrain body movement program；It handles above-mentioned data and forms Terrain Elevation figure, determine swing phase gait trim process method；Swing phase lands, and support phase finely tunes center of gravity；Friction electricity and pressure signal when acquisition lands obtain ground material, while acquiring support phase pressure signal, compare support phase stress condition and next periodic motion plan, finely tune support phase；The stress condition of next periodic motion plan and ground material and support phase is compared, fine tuning support phase becomes gait when swing phase；Control support phase becomes swing phase, and above-mentioned control method can accurately identify the touched landform of foot structure and material, accurately control robot gait, improve the passability of robot.
Description
Technical field
The present invention relates to domestic robot technical field, in particular to a kind of robot landform processing and more landform gait controls
Method and system processed.
Background technique
Step robot is (such as wheeled) compared to the configuration of traditional mobile robot to have better more terrain adaptabilities,
Especially because its motion principle has good applicability close to the mankind, for the environment that the mankind are lived, but this is special
Point also just makes to face numerous complex environments in its course of work.
Current existing walking robot landform sensory perceptual system is mostly based on the visual processes such as laser radar or image recognition
Technology, but this landform sensory perceptual system can only plan robot mass motion track, reach avoidance and optimal path
Selection as a result, can not accurately judge the precision architecture of landform, can make walking gait can not accurately adaptively face structure, from
And situations such as falling down robot.
Summary of the invention
In view of this, the first purpose of this invention is to provide a kind of robot landform processing and more landform gait controls
Method realizes the accurate adjusting to robot gait to realize the identification to landform and material at robot foot clan, improves machine
Passability of the device people in complicated landform.
Second object of the present invention is to provide a kind of based on the processing of above-mentioned robot landform and more landform gait controls
The control system of method.
To achieve the above object, the invention provides the following technical scheme:
A kind of robot landform processing and more landform gait control methods, comprising steps of
1) when swing phase foot structure is in the vertex for swinging phase cycle, driving swing phase foot structure carries out predetermined angle
Swing all around；
2) inclination data and end ground clearance data in swing phase foot structure swing process are acquired, logic fortune is carried out
After calculation with prestore basic data and be compared, if measurement data is reasonable, enter step 3), if measurement data is unreasonable,
Then call the extreme terrain body movement program in database；
3) inclination data and the end ground clearance data are analyzed and processed, form swing phase foot knot
Structure may fall the Terrain Elevation figure in region, analyze Terrain Elevation, determine the gait algorithm to swing phase foot structure
Trim process method；
4) it controls above-mentioned swing phase foot structure according to trim process method to land, while it is micro- to control support phase foot structure
Adjust robot center of gravity；
5) friction electric signal and pressure signal when acquisition swing phase foot structure lands obtain point of plane materiel matter over the ground
Analysis analyzes the stress condition of support phase foot structure, by stress feelings as a result, acquire the pressure signal of support phase foot structure simultaneously
The analysis result of condition is compared with next cycle machinery people exercise program, finely tunes the gravity's center control of support phase foot structure；
6) by the analysis result of next cycle machinery people exercise program and ground material and support phase foot structure by
Power situation is compared, and finely tunes next cycle machinery people exercise program, and fine tuning support phase foot structure becomes fortune when swing phase
Dynamic gait；
7) support phase foot structure is liftoff becomes swing phase for control, returns to the step 1).
Preferably, the step 2) specifically includes:
201) inclination data and end ground clearance data in swing phase foot structure swing process are acquired, logic is carried out
After operation with prestore basic data carry out for the first time compare analysis, if measurement data is reasonable, enter step 202), if measure number
According to unreasonable, then the step 1) is returned；
202) inclination data and end ground clearance data in second of acquisition swing phase foot structure swing process, if
Measurement data is reasonable, then enters step 3), if measurement data is unreasonable, calls the extreme terrain body movement journey in database
Sequence.
Preferably, the step 3) specifically includes:
301) inclination data and the end ground clearance data are analyzed and processed, form swing phase foot
Structure may fall the Terrain Elevation figure in region；
302) ambient data is acquired, ambient enviroment is analyzed, topographic database acquisition is matched according to prestoring
Terrain data, Combining with terrain data analyze the Terrain Elevation figure, determine the gait algorithm to swing phase foot structure
Trim process method.
Preferably, the step 4) specifically includes:
401) it is analyzed according to ambient enviroment as a result, being carried out to the trim process method of the gait algorithm of swing phase foot structure
Further adjustment, while the data of support phase foot structure are finely adjusted；
402) it controls above-mentioned swing phase foot structure to land, while controlling support phase foot structure fine tuned robot center of gravity.
Preferably, the predetermined angle is 15 °.
A kind of control system based on the processing and more landform gait control methods of robot landform described in any one as above
System, including the multiple foot structures alternately changed between support phase and swing phase, further includes:
For driving the steering gear system swung around the foot mechanism；
For measuring the gyro sensor at the foot structure inclination angle；
For measuring the distance measuring sensor of foot structure end ground clearance, for measuring the foot structure and ground
The friction electric transducer of the friction electric signal of face contact and for measure the foot structure and ground face contact pressure signal
Pressure sensor, the distance measuring sensor, friction electric transducer and pressure sensor be set to the foot structure and be used for
The end contacted to earth；
Master control system, foot landform processing system, terrain-matching system and kinetic control system, the master control system point
It is not communicated to connect with the foot landform processing system and the kinetic control system, the terrain-matching system and the foot
Portion's landform handles system communication connection, and the kinetic control system and the steering gear system communicate to connect, the gyro sensors
Device, the distance measuring sensor, the friction electric transducer and the pressure sensor are handled with the foot landform respectively
System communication connection；The foot landform processing system is used for the gyro sensor, the distance measuring sensor, described rubs
The data for wiping electric transducer and pressure sensor acquisition are analyzed and processed；The terrain-matching system is used for will be described
The data that foot landform processing system provides with prestore topographic database and be compared and obtain matched terrain data；The master
Control system passes through the motion control according to the analysis result of the foot landform processing system and the terrain-matching system
System controls the steering gear system and drives the foot structure movement.
It preferably, further include environmental analysis system, the environmental analysis System and Surroundings data acquisition device communication connection,
The terrain-matching system and the master control system are connect with the environmental analysis system communication respectively.
Preferably, the environment data acquisition device includes at least laser radar and camera.
Preferably, the distance measuring sensor is provided with multiple and each distance measuring sensor around the foot mechanism end
Edge array distribution.
Preferably, the friction electric transducer and the pressure sensor are respectively arranged with multiple, and each described are rubbed
It wipes electric transducer and each pressure sensor is arranged in arrays in the array of each distance measuring sensor.
In order to achieve the above first purpose, the present invention provides a kind of processing of robot landform and more landform gait control sides
Method, comprising steps of driving swing phase foot structure is preset when 1) swing phase foot structure is in the vertex for swinging phase cycle
The swing all around of angle；2) inclination data and end ground clearance number in swing phase foot structure swing process are acquired
According to, carry out after logical operation with prestore basic data and be compared, if measurement data is reasonable, enter step 3), if survey
It is unreasonable to measure data, then calls the extreme terrain body movement program in database；3) it is liftoff to inclination data and end away from
It is analyzed and processed from data, the Terrain Elevation figure in region may be fallen by forming swing phase foot structure, be carried out to Terrain Elevation
Analysis determines the trim process method to the gait algorithm of swing phase foot structure；4) it is controlled according to trim process method above-mentioned
Swing phase foot structure lands, while controlling support phase foot structure fine tuned robot center of gravity；5) swing phase foot structure is acquired
Friction electric signal and pressure signal when landing obtain the analysis of plane materiel matter over the ground as a result, acquiring support phase foot knot simultaneously
The pressure signal of structure analyzes the stress condition of support phase foot structure, by the analysis result of stress condition and next cycle machinery
People's exercise program compares, and finely tunes the gravity's center control of support phase foot structure；6) by next cycle machinery people exercise program and ground
The analysis result of material and the stress condition of support phase foot structure are compared, and finely tune next cycle machinery people and move meter
It draws, fine tuning support phase foot structure becomes movement gait when swing phase；7) support phase foot structure is liftoff becomes swinging for control
Phase, return step 1).
To reach above-mentioned second purpose, handled the present invention also provides one kind for realizing above-mentioned robot landform and more
The control system of landform gait control method, the system include foot structure, steering gear system, gyro sensor, ranging sensing
Device, friction electric transducer, pressure sensor, master control system, foot landform processing system, terrain-matching system and motion control
System, wherein multiple foot structures can replace between support phase and swing phase and change；Steering gear system is for driving foot
It is swung around mechanism；Gyro sensor is for measuring foot structure inclination angle；Distance measuring sensor is for measuring foot structure
End ground clearance, friction electric transducer are used to measure the friction electric signal of foot structure and ground face contact, and pressure sensor is used
In the pressure signal of measurement foot structure and ground face contact, distance measuring sensor, friction electric transducer and pressure sensor setting
The end contacted to earth is used in foot structure；Master control system respectively with foot landform processing system and kinetic control system communication link
It connects, terrain-matching system is connect with foot landform processing system communication, and kinetic control system and steering gear system communicate to connect, gyro
Instrument sensor, distance measuring sensor, friction electric transducer and pressure sensor connect with foot landform processing system communication respectively
It connects；Foot landform processing system is used to adopt gyro sensor, distance measuring sensor, friction electric transducer and pressure sensor
The data of collection are analyzed and processed；Terrain-matching system is used for data that foot landform processing system provides and prestores ground figurate number
It is compared according to library and obtains matched terrain data；Master control system is according to foot landform processing system and terrain-matching system
Analysis result pass through kinetic control system control steering gear system drive foot structure movement；
In conclusion above-mentioned control method and system pass through distance measuring sensor, before realizing that swing phase foot structure is fallen
Landform anticipation, provide swing phase foot structure land before gait adjust reference data, to landing when gait adjusted in real time
Whole, by pressure sensor and friction electric transducer, the landform material after realizing the landing of swing phase foot structure judges, thus
Realize the adjusting of swing phase foot structure and support phase foot structure next step gait adjustment and robot entirety center of gravity, thus
As it can be seen that landform and material that above-mentioned control method and system can accurately touch foot structure identify, together
When robot gait can accurately be controlled according to recognition result, reach improve robot the passability of complicated landform mesh
's.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the process of robot landform processing and more landform gait control methods that an embodiment of the present invention provides
Figure；
Fig. 2 is the process of robot landform processing and more landform gait control methods that another embodiment of the present invention provides
Figure；
Fig. 3 is the structure chart of robot landform provided in an embodiment of the present invention processing and more landform gait control systems.
Specific embodiment
The first purpose of this invention is to provide a kind of robot landform processing and more landform gait control methods, the machine
Device people's landform is handled and can be identified to landform at robot foot clan with material with more landform gait control methods, realization pair
The accurate adjusting of robot gait improves robot in the passability of complicated landform.
Second object of the present invention is to provide a kind of based on the processing of above-mentioned robot landform and more landform gait controls
The control system of method.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, Fig. 1 is the processing of robot landform and more landform gait control sides that an embodiment of the present invention provides
The flow chart of method.
A kind of robot landform processing provided in an embodiment of the present invention and more landform gait control systems, comprising steps of
S100: when swing phase foot structure is in the vertex for swinging phase cycle, driving swing phase foot structure is preset
The swing all around of angle；
Step robot includes multiple foot structures, each foot structure checker between swing phase and support phase
The movement of step robot is realized, as original state when this method is in the vertex of swing phase using foot structure.
S200: inclination data and end ground clearance data in acquisition swing phase foot structure swing process are patrolled
After volume operation with prestore basic data and be compared, if measurement data is reasonable, S300 is entered step, if measurement data is not
Rationally, then the extreme terrain body movement program in database is called；
This step main purpose is inspection machine people's foot pick-up point with the presence or absence of special circumstances, such as when such as measuring distance
Higher than foot at this time at a distance from ground, situations such as detection data is discontinuous may it is corresponding be stairway step or foot knot
Structure, which has lowering position, to be moved to object, has to the motor pattern using extreme terrain at this time.
S300: being analyzed and processed inclination data and end ground clearance data, and forming swing phase foot structure can
The Terrain Elevation figure that region can be fallen, analyzes Terrain Elevation, determines to the micro- of the gait algorithm of swing phase foot structure
Adjust processing method；
If robot is not on extreme terrain, the landform of foothold can be analyzed at this time, obtain Terrain Elevation
Figure, and be finely adjusted according to default gait of the landform height map to swing phase foot structure, default gait is robot in plane
On mobile gait.
S400: above-mentioned swing phase foot structure is controlled according to trim process method and is landed, while controlling support phase foot knot
Structure fine tuned robot center of gravity；
After guaranteeing that swing phase foot structure lands, robot is still able to maintain stabilization, it is necessary to while to robot
Center of gravity is adjusted.
S500: friction electric signal and pressure signal when acquisition swing phase foot structure lands obtain plane materiel matter over the ground
Analysis as a result, acquire the pressure signal of support phase foot structure simultaneously, analyze the stress condition of support phase foot structure, will be by
The analysis result of power situation is compared with next cycle machinery people exercise program, finely tunes the gravity's center control of support phase foot structure；
S600: by the analysis result and support phase foot structure of next cycle machinery people exercise program and ground material
Stress condition is compared, and finely tunes next cycle machinery people exercise program, when fine tuning support phase foot structure becomes swing phase
Move gait；
S700: support phase foot structure is liftoff becomes swing phase, return step S100 for control.
Compared with prior art, robot landform processing provided by the invention can be realized with more landform gait control methods
Landform anticipation before falling to swing phase foot structure, provides the reference data that gait is adjusted before swing phase foot structure is landed,
Gait is adjusted in real time when to landing, and carries out the judgement of ground material after the landing of swing phase foot structure, to realize
The adjusting of swing phase foot structure and support phase foot structure next step gait adjustment and robot entirety center of gravity, thus may be used
See, above-mentioned control method can be realized the landform touched to foot structure and material identifies, while can be according to identification
As a result robot gait is accurately controlled, achievees the purpose that improve robot in the passability of complicated landform.
Above-mentioned technical proposal is advanced optimized, to avoid the occurrence of erroneous judgement, is implemented as shown in Fig. 2, Fig. 2 is that the present invention is another
The flow chart of robot landform processing and more landform gait control methods that example provides, above-mentioned steps S200 are specifically included:
S201: inclination data and end ground clearance data in acquisition swing phase foot structure swing process are patrolled
After volume operation with prestore basic data and carry out comparing analysis for the first time, if measurement data is reasonable, enter step 202), if measuring
Data are unreasonable, then return step S100；
Inclination data and end ground clearance data in S202: second acquisition swing phase foot structure swing process,
If measurement data is reasonable, S300 is entered step, if measurement data is unreasonable, the extreme terrain body in database is called to transport
Dynamic program.
I.e. occur for the first time data it is unreasonable when, be not to call directly extreme terrain body movement program, and make to return again
It returns S100 and carries out double measurement, extreme terrain body movement program is just called when measurement data is unreasonable twice, avoids judging by accident
Generation.
More preferably, the accuracy to improve terrain analysis, it is desirable to carry out comprehensive descision, tool using ambient condition information
Body, in embodiments of the present invention, step S300 is specifically included:
S301: being analyzed and processed inclination data and end ground clearance data, and forming swing phase foot structure can
The Terrain Elevation figure in region can be fallen；
S302: acquisition ambient data analyzes ambient enviroment, and according to prestoring, topographic database acquisition is matched
Terrain data, Combining with terrain data analyze landform height map, determine to the micro- of the gait algorithm of swing phase foot structure
Adjust processing method.
In this way, more accurate terrain analysis can be obtained by the comprehensive analysis to foot landform and ambient enviroment
As a result, improving the precision of gait control.
Preferably, step S400 is specifically included:
S401: analyzing according to ambient enviroment as a result, to the trim process method of the gait algorithm of swing phase foot structure into
It advances a successive step, while the data of support phase foot structure is finely adjusted；
S402: controlling above-mentioned swing phase foot structure and land, while controlling support phase foot structure fine tuned robot center of gravity.
Preferably, the predetermined angle that swing phase foot structure is all around swung is 15 °, and certainly, 15 ° only
It is a kind of preferred embodiment provided in an embodiment of the present invention, is actually not limited to 15 °, those skilled in the art can basis
It needs to be adjusted.
Further, as shown in figure 3, the present invention also provides it is a kind of based on robot described in any embodiment as above
The control system of shape processing and more landform gait control methods, the control system include foot structure, steering gear system, gyroscope biography
Sensor, distance measuring sensor, friction electric transducer, pressure sensor, master control system, foot landform processing system, terrain match system
System and kinetic control system.
Wherein, multiple foot structures can replace between support phase and swing phase and change；Steering gear system is for driving
It is swung around foot mechanism；Gyro sensor is for measuring foot structure inclination angle；Distance measuring sensor is for measuring foot
Structure end ground clearance, friction electric transducer are used to measure the friction electric signal of foot structure and ground face contact, pressure sensing
Device is used to measure the pressure signal of foot structure and ground face contact, distance measuring sensor, friction electric transducer and pressure sensor
It is set to end of the foot structure for contacting to earth；Master control system is logical with foot landform processing system and kinetic control system respectively
Letter connection, terrain-matching system are connect with foot landform processing system communication, and kinetic control system and steering gear system communicate to connect,
Gyro sensor, distance measuring sensor, friction electric transducer and pressure sensor are logical with foot landform processing system respectively
Letter connection；Foot landform processing system is used for gyro sensor, distance measuring sensor, friction electric transducer and pressure sensing
The data of device acquisition are analyzed and processed；Terrain-matching system is used for data that foot landform processing system provides and prestores ground
Graphic data library is compared and obtains matched terrain data；Master control system is according to foot landform processing system and terrain match
The analysis result of system controls steering gear system by kinetic control system and drives foot structure movement.
Above-mentioned technical proposal is advanced optimized, which further includes environmental analysis system, environmental analysis system and ring
The communication connection of border data acquisition device, terrain-matching system and master control system are connect with environmental analysis system communication respectively.
Preferably, environment data acquisition device includes at least laser radar and camera.
Preferably, distance measuring sensor is provided with multiple and each distance measuring sensor around the edge battle array of foot mechanism end
Column distribution.
Preferably, friction electric transducer and pressure sensor are respectively arranged with multiple, and each friction fax sense
Device and each pressure sensor are arranged in arrays in the array of each distance measuring sensor.
Specifically, in embodiments of the present invention, distance measuring sensor is provided with 6, and rub electric transducer and pressure sensing
Device is respectively arranged with 4.
In conjunction with above-mentioned control method and control system, the present invention provides a kind of specific embodiment.
When swing phase foot structure is located at the vertex of entire swing period, i.e., the operation original state of whole system when,
It is respectively 15 ° that swing phase foot structure runs primary front and back inclination angle under the driving of steering gear system, and left and right inclination angle is respectively 15 ° of side-sway
With swing campaign, make foot structure end six distance measuring sensors cooperate foot structure installation gyro sensor into
The analysis of row topographical conditions；
The data of foot structure end ground clearance when by each ranging and gyro sensor when each ranging are passed back
To foot landform processing system, first progress first time logical operation, if numerical value overflows or unreasonable, foot occurs in data collection
Portion's landform processing system is communicated with master control system, it is desirable that is returned to previous step, then is executed the primary foot structure all around
It swings, and carries out second of logical operation, if detecting ranging data with irrationality, such as measure distance and be higher than and swing at this time
Phase foot structure is at a distance from ground, and data are directly passed through master control system and environmental analysis by situations such as detection data is discontinuous
System exchange, the two carry out comparing, judge whether to be in particular surroundings by foot that (such as stair or foot have lowering position
Moving to object), the extreme terrain body movement program in transfer environment analysis system database；
Foot landform processing system is compared twice above, assert that data are reasonable, is not needed to re-measure data and be called
After the database of environmental analysis system, by the ranging data of distance measuring sensor and when each ranging gyro sensor data into
Row analysis processing, the Terrain Elevation figure in region may be fallen by forming foot, be sent to terrain-matching system；
After terrain-matching system receives Terrain Elevation figure, receives the data of upper layer environmental analysis system first, utilize environment
Analysis system finds matched landform by the data of other sensors (laser radar or camera) in topographic database
Then data are analyzed landform height map, determine the trim process method to the gait algorithm of swing phase foot structure.
Trim process method is sent to master control system, to ring locating for robot in master control system transfer environment analysis system
The analysis data in border further adjust method for trimming.Simultaneously to robot local environment in transfer environment analysis system
Analysis data, support phase foot structure data are finely adjusted.From master control system by above-mentioned swing phase foot structure and
The control data of support phase foot structure are sent to kinetic control system.
Kinetic control system carries out motion control, and support phase foot structure combines original gait program micro- according to fine tuning data
Robot center of gravity is adjusted, swing phase foot structure lands according to fine tuning data；
After landing, the friction electric transducer and pressure sensor installed in swing phase foot structure are with transferring data to foot
Shape processing system, foot landform processing system are communicated with terrain-matching system, call environmental analysis system in upper layer to the first of landform
Step classification, sends data to foot landform processing system, obtains the analysis of plane materiel matter over the ground as a result, same in conjunction with sensing data
When the pressure sensor numerical value of support phase foot structure is individually called in foot landform processing system, analyze support phase foot knot
The respective stress condition of structure, is sent to master control system after stress condition is handled, and plans ratio with next cycle robot motion
It is right, each support phase foot structure fine tuning data are obtained, and be sent to kinetic control system.
Master control system by next cycle machinery people exercise program and foot landform processing network analysis ground surface material and
Compared to pair, finely tune support phase foot structure in next cycle machinery people exercise program becomes putting support phase foot structure stress data
Movement gait when dynamic phase, and the gait data is sent to kinetic control system.
Finally, kinetic control system control support phase foot structure is liftoff, support phase is changed into swing phase, returns most preliminary
Suddenly, next circulation is carried out.
In conclusion control method provided in an embodiment of the present invention has been copied in human motion in control logic to landform
Processing logic, i.e., by using the judgement of environment as upper control unit, using vola sense of touch as Auxiliary Control Element, using imitative
Raw to learn, the layering for imitating the i.e. mammalian nervous of bionical template is adjusted, and has structurally copied the nerve point of the mankind in control system
Grade regulating system, is layered identifying system, according to sensor values as a result, data processing unit layering is handled,
Three layers of processing unit are respectively foot landform processing system, terrain-matching system layer, environmental analysis system layer, point of control system
Layer control improves the accuracy of analysis system, and robustness makes locating for mima type microrelief analysis and the robot of foot structure touchdown point
Overall situation terrain analysis carries out parallel, improves the accuracy of analysis.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of robot landform processing and more landform gait control methods, which is characterized in that comprising steps of
1) when swing phase foot structure is in the vertex for swinging phase cycle, before driving swing phase foot structure carries out predetermined angle
After swing；
2) inclination data and end ground clearance data in swing phase foot structure swing process are acquired, after carrying out logical operation
It is compared with basic data is prestored, if measurement data is reasonable, enters step 3), if measurement data is unreasonable, adjust
With the extreme terrain body movement program in database；
3) inclination data and the end ground clearance data are analyzed and processed, forming swing phase foot structure can
The Terrain Elevation figure that region can be fallen, analyzes Terrain Elevation, determines to the micro- of the gait algorithm of swing phase foot structure
Adjust processing method；
4) above-mentioned swing phase foot structure is controlled according to trim process method to land, while controlling support phase foot structure freqency fine adjustment machine
Device people's center of gravity；
5) friction electric signal and pressure signal when acquisition swing phase foot structure lands, obtain the analysis knot of plane materiel matter over the ground
Fruit, while the pressure signal of support phase foot structure is acquired, the stress condition of support phase foot structure is analyzed, by stress condition
Analysis result is compared with next cycle machinery people exercise program, finely tunes the gravity's center control of support phase foot structure；
6) by next cycle machinery people exercise program and the analysis result of ground material and the stress feelings of support phase foot structure
Condition is compared, and finely tunes next cycle machinery people exercise program, and fine tuning support phase foot structure becomes movement step when swing phase
State；
7) support phase foot structure is liftoff becomes swing phase for control, returns to the step 1).
2. robot landform processing according to claim 1 and more landform gait control methods, which is characterized in that the step
It is rapid 2) to specifically include:
201) inclination data and end ground clearance data in swing phase foot structure swing process are acquired, logical operation is carried out
Afterwards with prestore basic data carry out for the first time compare analysis, if measurement data is reasonable, enter step 202), if measurement data is not
Rationally, then the step 1) is returned；
202) inclination data and end ground clearance data in second of acquisition swing phase foot structure swing process, if measurement
Data are reasonable, then enter step 3), if measurement data is unreasonable, call the extreme terrain body movement program in database.
3. robot landform processing according to claim 1 or 2 and more landform gait control methods, which is characterized in that institute
Step 3) is stated to specifically include:
301) inclination data and the end ground clearance data are analyzed and processed, form swing phase foot structure
The Terrain Elevation figure in region may be fallen；
302) ambient data is acquired, ambient enviroment is analyzed, obtains matched landform according to topographic database is prestored
Data, Combining with terrain data analyze the Terrain Elevation figure, determine to the micro- of the gait algorithm of swing phase foot structure
Adjust processing method.
4. robot landform processing according to claim 3 and more landform gait control methods, which is characterized in that the step
It is rapid 4) to specifically include:
401) it is analyzed according to ambient enviroment as a result, carrying out the trim process method of the gait algorithm of swing phase foot structure into one
Successive step, while the data of support phase foot structure are finely adjusted；
402) it controls above-mentioned swing phase foot structure to land, while controlling support phase foot structure fine tuned robot center of gravity.
5. according to claim 1, the processing of robot landform described in 2 and 4 any one and more landform gait control methods, special
Sign is that the predetermined angle is 15 °.
6. a kind of control based on the processing and more landform gait control methods of robot landform described in claim 1-5 any one
System processed, including the multiple foot structures alternately changed between support phase and swing phase, which is characterized in that further include:
For driving the steering gear system swung around the foot mechanism；
For measuring the gyro sensor at the foot structure inclination angle；
For measuring the distance measuring sensor of foot structure end ground clearance, being connect for measuring the foot structure and ground
The pressure of the friction electric transducer of the friction electric signal of touching and the pressure signal for measuring the foot structure and ground face contact
Force snesor, the distance measuring sensor, friction electric transducer and pressure sensor are set to the foot structure for contacting to earth
End；
Master control system, foot landform processing system, terrain-matching system and kinetic control system, the master control system respectively with
The foot landform processing system and kinetic control system communication connection, the terrain-matching system and the foot
The communication connection of shape processing system, the kinetic control system and the steering gear system communicate to connect, the gyro sensor, institute
It is logical with the foot landform processing system respectively to state distance measuring sensor, the friction electric transducer and the pressure sensor
Letter connection；The foot landform processing system is used for the gyro sensor, the distance measuring sensor, the friction fax
Sensor and the data of pressure sensor acquisition are analyzed and processed；The terrain-matching system is for by the foot
The data that shape processing system provides with prestore topographic database and be compared and obtain matched terrain data；The master control system
Pass through the kinetic control system control according to the analysis result of the foot landform processing system and the terrain-matching system
It makes the steering gear system and drives the foot structure movement.
7. control system according to claim 6, which is characterized in that further include environmental analysis system, the environmental analysis
The communication connection of System and Surroundings data acquisition device, the terrain-matching system and the master control system respectively with the environment
Analysis system communication connection.
8. control system according to claim 7, which is characterized in that the environment data acquisition device includes at least laser
Radar and camera.
9. according to control system described in claim 6-8 any one, which is characterized in that the distance measuring sensor is provided with more
Edge array distribution of a and each distance measuring sensor around the foot mechanism end.
10. control system according to claim 9, which is characterized in that the friction electric transducer and the pressure pass
Sensor is respectively arranged with multiple, and each friction electric transducer and each pressure sensor are in each ranging
It is arranged in arrays in the array of sensor.
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