CN110262532B - Robot terrain processing and multi-terrain gait control method and system - Google Patents
Robot terrain processing and multi-terrain gait control method and system Download PDFInfo
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- CN110262532B CN110262532B CN201910550632.8A CN201910550632A CN110262532B CN 110262532 B CN110262532 B CN 110262532B CN 201910550632 A CN201910550632 A CN 201910550632A CN 110262532 B CN110262532 B CN 110262532B
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Abstract
The invention discloses a robot terrain processing and multi-terrain gait control method and a system, wherein the method comprises the following steps: driving the swinging foot part structure to swing back and forth and left and right; comparing the swing phase inclination angle data and the ground clearance data with prestored basic data, if the data are reasonable, continuing, if the data are unreasonable, calling a special terrain body movement program; processing the data to form a terrain height map, and determining a swing phase step fine tuning processing method; the swinging phase touches the ground, and the supporting phase finely adjusts the gravity center; acquiring triboelectricity and pressure signals during landing to obtain ground material, acquiring a support phase pressure signal, comparing the stress condition of the support phase with a next cycle movement plan, and finely adjusting the support phase; comparing the next periodic exercise plan with the stress condition of the ground material and the support phase, and finely adjusting the gait when the support phase is changed into the swing phase; the control method can accurately identify the landform and material touched by the foot structure, accurately control the gait of the robot and improve the trafficability of the robot.
Description
Technical Field
The invention relates to the technical field of household robots, in particular to a robot terrain processing and multi-terrain gait control method and system.
Background
Compared with the traditional mobile robot, the walking robot has better multi-terrain adaptability in the configuration (such as a wheel type) and particularly has good applicability to the environment where people live because the motion principle of the walking robot is close to that of the human, but the walking robot faces a plurality of complex environments in the working process due to the characteristic.
Most existing terrain perception systems of walking robots are based on vision processing technologies such as laser radar or image recognition, but the terrain perception systems can only plan the overall movement track of the robot, achieve the results of obstacle avoidance and optimal path selection, cannot accurately judge the accurate structure of the terrain, and enable walking gaits to be inaccurately adapted to the ground structure, so that the robot falls down and the like.
Disclosure of Invention
In view of the above, a first objective of the present invention is to provide a terrain processing and multi-terrain gait control method for a robot, so as to identify the terrain and material of the foot of the robot, accurately adjust the gait of the robot, and improve the trafficability of the robot in complex terrain.
The second objective of the present invention is to provide a control system based on the robot terrain processing and multi-terrain gait control method.
In order to achieve the purpose, the invention provides the following technical scheme:
a robot terrain processing and multi-terrain gait control method comprises the following steps:
1) when the swing phase foot structure is positioned at the top of the swing phase period, the swing phase foot structure is driven to swing forwards, backwards, leftwards and rightwards at a preset angle;
2) acquiring inclination angle data and tail end ground clearance data in the swinging process of a swinging phase foot structure, performing logic operation, and then comparing and analyzing the data with prestored basic data, if the measured data is reasonable, entering a step 3), and if the measured data is unreasonable, calling a special terrain body movement program in a database;
3) analyzing and processing the inclination angle data and the tail end ground clearance data to form a terrain height map of a possible falling area of the swing phase foot structure, analyzing the terrain height and determining a fine adjustment processing method of a gait algorithm of the swing phase foot structure;
4) controlling the swinging phase foot part structure to land according to a fine adjustment processing method, and simultaneously controlling the supporting phase foot part structure to finely adjust the gravity center of the robot;
5) acquiring a friction electric signal and a pressure signal when the swinging-phase foot structure lands on the ground to obtain an analysis result of the ground material, acquiring a pressure signal of the supporting-phase foot structure, analyzing the stress condition of the supporting-phase foot structure, comparing the analysis result of the stress condition with the robot motion plan of the next period, and finely adjusting the gravity center control of the supporting-phase foot structure;
6) comparing the next period of robot motion plan with the analysis result of the ground material and the stress condition of the support phase foot structure, finely adjusting the next period of robot motion plan, and finely adjusting the motion gait when the support phase foot structure is changed into the swing phase;
7) and controlling the foot structure of the support phase to change from the ground to the swing phase, and returning to the step 1).
Preferably, the step 2) specifically includes:
201) collecting inclination angle data and tail end ground clearance data in the swinging process of the swinging phase foot structure, performing logic operation, and then performing first comparison analysis with prestored basic data, if the measured data is reasonable, entering step 202), and if the measured data is unreasonable, returning to step 1);
202) and acquiring inclination angle data and tail end ground clearance data in the swinging process of the swinging phase foot structure for the second time, if the measurement data is reasonable, entering the step 3), and if the measurement data is unreasonable, calling a special terrain body movement program in the database.
Preferably, the step 3) specifically includes:
301) analyzing and processing the inclination angle data and the tail end ground clearance data to form a terrain height map of a possible falling area of the swing phase foot structure;
302) collecting surrounding environment data, analyzing the surrounding environment, obtaining matched topographic data according to a pre-stored topographic database, analyzing the topographic height map by combining the topographic data, and determining a fine adjustment processing method of the gait algorithm of the swing phase foot structure.
Preferably, the step 4) specifically includes:
401) further adjusting the fine adjustment processing method of the gait algorithm of the swing phase foot structure according to the analysis result of the surrounding environment, and simultaneously fine adjusting the data of the support phase foot structure;
402) and controlling the swinging phase foot part structure to land on the ground, and controlling the supporting phase foot part structure to finely adjust the gravity center of the robot.
Preferably, the preset angle is 15 °.
A control system based on a robotic terrain-processing and multi-terrain gait control method as claimed in any one of the preceding claims, comprising a plurality of foot structures alternating between a support phase and a swing phase, further comprising:
the steering engine system is used for driving the foot mechanism to swing back and forth and left and right;
a gyroscope sensor for measuring the inclination of the foot structure;
a distance measuring sensor for measuring the distance from the foot structure tip to the ground, a triboelectric sensor for measuring an electrical signal of friction of the foot structure in contact with the ground, and a pressure sensor for measuring a pressure signal of the foot structure in contact with the ground, the distance measuring sensor, the triboelectric sensor, and the pressure sensor being arranged at the end of the foot structure for contacting the ground;
the system comprises a main control system, a foot terrain processing system, a terrain matching system and a motion control system, wherein the main control system is respectively in communication connection with the foot terrain processing system and the motion control system; the foot terrain processing system is used for analyzing and processing data collected by the gyroscope sensor, the distance measuring sensor, the friction electric sensor and the pressure sensor; the terrain matching system is used for comparing the data provided by the foot terrain processing system with a pre-stored terrain database and obtaining matched terrain data; and the master control system controls the steering engine system to drive the foot structure to act through the motion control system according to the analysis results of the foot terrain processing system and the terrain matching system.
Preferably, the system further comprises an environment analysis system, the environment analysis system is in communication connection with an environment data acquisition device, and the terrain matching system and the master control system are in communication connection with the environment analysis system respectively.
Preferably, the environmental data acquisition device at least comprises a laser radar and a camera.
Preferably, the distance measuring sensors are provided in plurality and each of the distance measuring sensors is distributed around an edge array of the foot mechanism end.
Preferably, the plurality of the friction electric sensors and the plurality of the pressure sensors are respectively arranged, and each of the friction electric sensors and each of the pressure sensors are arranged in a matrix in each of the arrays of the distance measuring sensors.
In order to achieve the first object, the present invention provides a robot terrain processing and multi-terrain gait control method, which comprises the steps of: 1) when the swing phase foot structure is positioned at the top of the swing phase period, the swing phase foot structure is driven to swing forwards, backwards, leftwards and rightwards at a preset angle; 2) acquiring inclination angle data and tail end ground clearance data in the swinging process of a swinging phase foot structure, performing logic operation, and then comparing and analyzing the data with prestored basic data, if the measured data is reasonable, entering a step 3), and if the measured data is unreasonable, calling a special terrain body movement program in a database; 3) analyzing and processing the inclination angle data and the tail end ground clearance data to form a terrain height map of a possible falling area of the swing phase foot structure, analyzing the terrain height and determining a fine adjustment processing method of a gait algorithm of the swing phase foot structure; 4) controlling the swinging phase foot part structure to land according to a fine adjustment processing method, and simultaneously controlling the supporting phase foot part structure to finely adjust the gravity center of the robot; 5) acquiring a friction electric signal and a pressure signal when the swinging-phase foot structure lands on the ground to obtain an analysis result of the ground material, acquiring a pressure signal of the supporting-phase foot structure, analyzing the stress condition of the supporting-phase foot structure, comparing the analysis result of the stress condition with the robot motion plan of the next period, and finely adjusting the gravity center control of the supporting-phase foot structure; 6) comparing the next period of robot motion plan with the analysis result of the ground material and the stress condition of the support phase foot structure, finely adjusting the next period of robot motion plan, and finely adjusting the motion gait when the support phase foot structure is changed into the swing phase; 7) and controlling the foot structure of the support phase to change from the ground to the swing phase, and returning to the step 1).
In order to achieve the second object, the invention further provides a control system for implementing the robot terrain processing and multi-terrain gait control method, which comprises a foot structure, a steering engine system, a gyroscope sensor, a distance measuring sensor, a friction electric sensor, a pressure sensor, a main control system, a foot terrain processing system, a terrain matching system and a motion control system, wherein the plurality of foot structures can be alternately changed between a supporting phase and a swinging phase; the steering engine system is used for driving the foot mechanism to swing back and forth and left and right; the gyroscope sensor is used for measuring the inclination angle of the foot structure; the distance measuring sensor is used for measuring the distance from the tail end of the foot structure to the ground, the friction electric sensor is used for measuring a friction electric signal of the foot structure contacting with the ground, the pressure sensor is used for measuring a pressure signal of the foot structure contacting with the ground, and the distance measuring sensor, the friction electric sensor and the pressure sensor are arranged at the end part of the foot structure for contacting with the ground; the master control system is respectively in communication connection with the foot terrain processing system and the motion control system, the terrain matching system is in communication connection with the foot terrain processing system, the motion control system is in communication connection with the steering engine system, and the gyroscope sensor, the distance measuring sensor, the friction electric sensor and the pressure sensor are respectively in communication connection with the foot terrain processing system; the foot terrain processing system is used for analyzing and processing data collected by the gyroscope sensor, the distance measuring sensor, the friction electric sensor and the pressure sensor; the terrain matching system is used for comparing the data provided by the foot terrain processing system with a pre-stored terrain database and obtaining matched terrain data; the master control system controls the steering engine system to drive the foot structure to act through the motion control system according to the analysis results of the foot terrain processing system and the terrain matching system;
in summary, the control method and the control system realize terrain prejudgment before the swing phase foot structure falls through the ranging sensor, provide reference data for gait adjustment before the swing phase foot structure falls to the ground, adjust the landing time gait in real time, and judge the terrain material after the swing phase foot structure falls to the ground through the pressure sensor and the friction electric sensor, so as to realize next gait adjustment of the swing phase foot structure and the support phase foot structure and adjustment of the overall gravity center of the robot.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a terrain processing and multi-terrain gait control method of a robot according to an embodiment of the invention;
fig. 2 is a flowchart of a terrain processing and multi-terrain gait control method of a robot according to another embodiment of the invention;
fig. 3 is a block diagram of a robot terrain processing and multi-terrain gait control system according to an embodiment of the invention.
Detailed Description
The invention aims to provide a robot terrain processing and multi-terrain gait control method, which can identify the terrain and material of a foot landing part of a robot, realize accurate regulation of the gait of the robot and improve the trafficability of the robot in complex terrain.
The second objective of the present invention is to provide a control system based on the robot terrain processing and multi-terrain gait control method.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating a terrain processing and multi-terrain gait control method of a robot according to an embodiment of the invention.
The embodiment of the invention provides a robot terrain processing and multi-terrain gait control system, which comprises the following steps:
s100: when the swing phase foot structure is positioned at the top of the swing phase period, the swing phase foot structure is driven to swing forwards, backwards, leftwards and rightwards at a preset angle;
the walking robot comprises a plurality of foot structures, each foot structure is alternately changed between a swing phase and a support phase to realize the movement of the walking robot, and the method takes the foot structures at the vertexes of the swing phase as an initial state.
S200: acquiring inclination angle data and tail end ground clearance data in the swinging process of a swinging phase foot structure, performing logic operation, and then comparing and analyzing the data with prestored basic data, if the measured data is reasonable, entering a step S300, and if the measured data is unreasonable, calling a special terrain body movement program in a database;
the main purpose of this step is to check whether there are special situations in the robot foot landing place, such as when the distance is measured to be higher than this, the distance between the foot and the ground, the detection data discontinuity, etc. may correspond to the situation that the stair step or the foot structure will fall down to a place with an object moving, and the special terrain movement pattern must be used.
S300: analyzing and processing the inclination angle data and the tail end ground clearance data to form a terrain height map of a possible falling area of the swing phase foot structure, analyzing the terrain height and determining a fine adjustment processing method of a gait algorithm of the swing phase foot structure;
if the robot is not in the special terrain, the terrain of the foot drop point can be analyzed at the moment to obtain a terrain height map, and the preset gait of the swinging foot structure is finely adjusted according to the terrain height map, wherein the preset gait is the moving gait of the robot on the plane.
S400: controlling the swinging phase foot part structure to land according to a fine adjustment processing method, and simultaneously controlling the supporting phase foot part structure to finely adjust the gravity center of the robot;
in order to ensure that the robot can still keep stable after the swinging foot part structure lands, the center of gravity of the robot must be adjusted at the same time.
S500: acquiring a friction electric signal and a pressure signal when the swinging-phase foot structure lands on the ground to obtain an analysis result of the ground material, acquiring a pressure signal of the supporting-phase foot structure, analyzing the stress condition of the supporting-phase foot structure, comparing the analysis result of the stress condition with the robot motion plan of the next period, and finely adjusting the gravity center control of the supporting-phase foot structure;
s600: comparing the next period of robot motion plan with the analysis result of the ground material and the stress condition of the support phase foot structure, finely adjusting the next period of robot motion plan, and finely adjusting the motion gait when the support phase foot structure is changed into the swing phase;
s700: the support phase foot structure is controlled to be changed to the swing phase from the ground, and the process returns to step S100.
Compared with the prior art, the terrain processing and multi-terrain gait control method for the robot can realize pre-judgment of the terrain of the swing phase foot structure before falling, provide reference data for gait adjustment before the swing phase foot structure falls to the ground, adjust the gait in real time when falling to the ground, and judge the ground material after the swing phase foot structure falls to the ground, so that the next step of gait adjustment of the swing phase foot structure and the support phase foot structure and adjustment of the whole gravity center of the robot are realized.
To further optimize the above technical solution, and to avoid the occurrence of erroneous judgment, as shown in fig. 2, fig. 2 is a flowchart of a robot terrain processing and multi-terrain gait control method according to another embodiment of the present invention, where the step S200 specifically includes:
s201: acquiring inclination angle data and tail end ground clearance data in the swinging process of the swinging phase foot structure, performing logic operation, and then performing first comparison analysis with prestored basic data, if the measurement data is reasonable, entering step 202), and if the measurement data is unreasonable, returning to step S100;
s202: and acquiring inclination angle data and tail end ground clearance data in the swinging process of the swinging phase foot structure for the second time, if the measurement data is reasonable, entering the step S300, and if the measurement data is unreasonable, calling a special terrain body movement program in the database.
That is, when the data is unreasonable for the first time, the special terrain body movement program is not directly called, and the special terrain body movement program is returned to S100 for secondary measurement, and the special terrain body movement program is called when the data measured for two times is unreasonable, so that the occurrence of misjudgment is avoided.
Preferably, in order to improve accuracy of the terrain analysis, it is better to perform comprehensive judgment by using the ambient environment information, and specifically, in the embodiment of the present invention, the step S300 specifically includes:
s301: analyzing and processing the inclination angle data and the tail end ground clearance data to form a terrain height map of a possible falling area of the swing phase foot structure;
s302: collecting surrounding environment data, analyzing the surrounding environment, obtaining matched topographic data according to a pre-stored topographic database, analyzing a topographic height map by combining the topographic data, and determining a fine adjustment processing method of a gait algorithm of a swing phase foot structure.
Therefore, by comprehensively analyzing the underfoot terrain and the surrounding environment, a more accurate terrain analysis result can be obtained, and the gait control precision is improved.
Preferably, step S400 specifically includes:
s401: further adjusting the fine adjustment processing method of the gait algorithm of the swing phase foot structure according to the analysis result of the surrounding environment, and simultaneously fine adjusting the data of the support phase foot structure;
s402: and controlling the swinging phase foot part structure to land on the ground, and controlling the supporting phase foot part structure to finely adjust the gravity center of the robot.
Preferably, the preset angle for swinging the foot structure back, forth, left and right is 15 °, however, 15 ° is only one preferred embodiment provided by the embodiment of the present invention, and is not limited to 15 ° in practice, and can be adjusted by those skilled in the art as required.
Further, as shown in fig. 3, the present invention further provides a control system based on the robot terrain processing and multi-terrain gait control method according to any of the above embodiments, the control system includes a foot structure, a steering engine system, a gyroscope sensor, a distance measuring sensor, a friction sensor, a pressure sensor, a master control system, a foot terrain processing system, a terrain matching system, and a motion control system.
Wherein the plurality of foot structures are capable of alternating between a support phase and a swing phase; the steering engine system is used for driving the foot mechanism to swing back and forth and left and right; the gyroscope sensor is used for measuring the inclination angle of the foot structure; the distance measuring sensor is used for measuring the distance from the tail end of the foot structure to the ground, the friction electric sensor is used for measuring a friction electric signal of the foot structure contacting with the ground, the pressure sensor is used for measuring a pressure signal of the foot structure contacting with the ground, and the distance measuring sensor, the friction electric sensor and the pressure sensor are arranged at the end part of the foot structure for contacting with the ground; the master control system is respectively in communication connection with the foot terrain processing system and the motion control system, the terrain matching system is in communication connection with the foot terrain processing system, the motion control system is in communication connection with the steering engine system, and the gyroscope sensor, the distance measuring sensor, the friction electric sensor and the pressure sensor are respectively in communication connection with the foot terrain processing system; the foot terrain processing system is used for analyzing and processing data collected by the gyroscope sensor, the distance measuring sensor, the friction electric sensor and the pressure sensor; the terrain matching system is used for comparing the data provided by the foot terrain processing system with a pre-stored terrain database and obtaining matched terrain data; and the master control system controls the steering engine system to drive the foot structure to act through the motion control system according to the analysis results of the foot terrain processing system and the terrain matching system.
Further optimize above-mentioned technical scheme, this control system still includes environmental analysis system, environmental analysis system and environmental data collection system communication connection, and topography matching system and master control system are connected with environmental analysis system communication respectively.
Preferably, the environmental data acquisition device at least comprises a laser radar and a camera.
Preferably, the distance measuring sensors are provided in a plurality and each of the distance measuring sensors is distributed around an edge array of the foot mechanism end.
Preferably, the plurality of the friction electric sensors and the plurality of the pressure sensors are provided, and the respective friction electric sensors and the respective pressure sensors are arranged in a matrix in the array of the respective distance measuring sensors.
Specifically, in the embodiment of the present invention, there are 6 distance measuring sensors, and there are 4 friction electric sensors and 4 pressure sensors, respectively.
The present invention provides a specific embodiment by combining the control method and the control system.
When the swinging phase foot structure is positioned at the top point of the whole swinging period, namely the running initial state of the whole system, the swinging phase foot structure runs for one time through side swinging and back-and-forth swinging with the front and back inclination angles of 15 degrees and the left and right inclination angles of 15 degrees under the driving of a steering engine system, so that six distance measuring sensors at the tail end of the foot structure are matched with a gyroscope sensor arranged on the foot structure to carry out topographic state analysis;
the distance from the tail end of the foot structure to the ground during each distance measurement and the data of the gyroscope sensor during each distance measurement are transmitted back to the foot terrain processing system, first logic operation is carried out, if numerical value overflow or data collection is not reasonable, the foot topography processing system communicates with the master control system and requests to go back to the previous step, perform a further swing back and forth and side to side of the foot structure, and performing a second logic operation, if it is detected that the distance measurement data is unreasonable, such as the distance between the swing phase foot structure and the ground is detected when the distance is higher than the predetermined distance, and the detection data is discontinuous, directly communicating data with an environment analysis system through a main control system, comparing the data with the data of the environment analysis system, judging whether the feet are in a special environment (such as stairs or the feet are moved to an object at a falling position), and calling a special terrain body motion program in an environment analysis system database;
after the foot terrain processing system compares the data twice, the data is determined to be reasonable, the ranging data of the ranging sensor and the data of the gyroscope sensor during each ranging are analyzed and processed without re-measuring the data and calling a database of the environment analysis system, a terrain height map of a region where the foot may fall is formed, and the terrain height map is sent to the terrain matching system;
after receiving the terrain height map, the terrain matching system firstly receives data of an upper-layer environment analysis system, searches matched terrain data in a terrain database by using the data of other sensors (laser radar or cameras) through the environment analysis system, then analyzes the terrain height map, and determines a fine adjustment processing method for the gait algorithm of the swing phase foot structure.
And sending the fine tuning processing method to a master control system, calling the analysis data of the environment where the robot is located in the environment analysis system by the master control system, and further adjusting the fine tuning method. Meanwhile, the analysis data of the environment where the robot is located in the environment analysis system is called, and the support phase foot structure data are finely adjusted. And sending the control data of the swing phase foot structure and the support phase foot structure to a motion control system from the master control system.
The motion control system performs motion control, the support phase foot structure finely adjusts the gravity center of the robot according to fine adjustment data and an original gait program, and the swing phase foot structure lands according to the fine adjustment data;
after landing, a friction electric sensor and a pressure sensor which are installed on the swing phase foot structure transmit data to a foot terrain processing system, the foot terrain processing system is communicated with a terrain matching system, an upper environment analysis system is called for primarily classifying the terrain, the data are sent to the foot terrain processing system, an analysis result of the ground material is obtained by combining the sensor data, meanwhile, the pressure sensor value of the support phase foot structure is independently called in the foot terrain processing system, the respective stress condition of the support phase foot structure is analyzed, the stress condition is processed and then sent to a master control system, and compared with a next cycle robot motion plan, fine adjustment data of each support phase foot structure are obtained and sent to a motion control system.
And the master control system compares the next cycle of the robot motion plan with the ground surface material and the supporting phase foot structure stress data analyzed by the foot terrain processing system, finely adjusts the motion gait when the supporting phase foot structure in the next cycle of the robot motion plan is changed into the swing phase, and sends the gait data to the motion control system.
And finally, the motion control system controls the foot structure of the support phase to lift off the ground, the support phase is converted into the swing phase, and the initial step is returned to carry out the next cycle.
In summary, the control method provided in the embodiments of the present invention imitates the processing logic of the terrain in human motion in the control logic, that is, the judgment of the environment is used as the upper control unit, the feeling of the sole is used as the auxiliary control unit, the bionics is used to imitate the layered adjustment of the bionic template, that is, the mammalian nerve, the human nerve hierarchical adjustment system is imitated in the control system structure, the recognition system is layered, the data processing unit processes the layered data according to the sensor value result, the three layers of processing units are the foot terrain processing system, the terrain matching system layer and the environment analysis system layer, the layered control of the control system improves the accuracy and robustness of the analysis system, so that the micro-terrain analysis of the landing point of the foot structure and the large-environment terrain analysis of the robot are performed in parallel, and the analysis accuracy is improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A robot terrain processing and multi-terrain gait control method is characterized by comprising the following steps:
1) when the swing phase foot structure is positioned at the top of the swing phase period, the swing phase foot structure is driven to swing forwards, backwards, leftwards and rightwards at a preset angle;
2) acquiring inclination angle data and tail end ground clearance data in the swinging process of a swinging phase foot structure, performing logic operation, and then comparing and analyzing the data with prestored basic data, if the measured data is reasonable, entering a step 3), and if the measured data is unreasonable, calling a special terrain body movement program in a database;
3) analyzing and processing the inclination angle data and the tail end ground clearance data to form a terrain height map of a possible falling area of the swing phase foot structure, analyzing the terrain height and determining a fine adjustment processing method of a gait algorithm of the swing phase foot structure;
4) controlling the swinging phase foot part structure to land according to a fine adjustment processing method, and simultaneously controlling the supporting phase foot part structure to finely adjust the gravity center of the robot;
5) acquiring a friction electric signal and a pressure signal when the swinging-phase foot structure lands on the ground to obtain an analysis result of the ground material, acquiring a pressure signal of the supporting-phase foot structure, analyzing the stress condition of the supporting-phase foot structure, comparing the analysis result of the stress condition with the robot motion plan of the next period, and finely adjusting the gravity center control of the supporting-phase foot structure;
6) comparing the next period of robot motion plan with the analysis result of the ground material and the stress condition of the support phase foot structure, finely adjusting the next period of robot motion plan, and finely adjusting the motion gait when the support phase foot structure is changed into the swing phase;
7) and controlling the foot structure of the support phase to change from the ground to the swing phase, and returning to the step 1).
2. The robotic terrain conditioning and multi-terrain gait control method of claim 1, characterized in that the step 2) specifically comprises:
201) collecting inclination angle data and tail end ground clearance data in the swinging process of the swinging phase foot structure, performing logic operation, and then performing first comparison analysis with prestored basic data, if the measured data is reasonable, entering step 202), and if the measured data is unreasonable, returning to step 1);
202) and acquiring inclination angle data and tail end ground clearance data in the swinging process of the swinging phase foot structure for the second time, if the measurement data is reasonable, entering the step 3), and if the measurement data is unreasonable, calling a special terrain body movement program in the database.
3. The robotic terrain conditioning and multi-terrain gait control method of claim 1 or 2, characterized in that the step 3) specifically comprises:
301) analyzing and processing the inclination angle data and the tail end ground clearance data to form a terrain height map of a possible falling area of the swing phase foot structure;
302) collecting surrounding environment data, analyzing the surrounding environment, obtaining matched topographic data according to a pre-stored topographic database, analyzing the topographic height map by combining the topographic data, and determining a fine adjustment processing method of the gait algorithm of the swing phase foot structure.
4. The robotic terrain conditioning and multi-terrain gait control method of claim 3, characterized in that the step 4) specifically comprises:
401) further adjusting the fine adjustment processing method of the gait algorithm of the swing phase foot structure according to the analysis result of the surrounding environment, and simultaneously fine adjusting the data of the support phase foot structure;
402) and controlling the swinging phase foot part structure to land on the ground, and controlling the supporting phase foot part structure to finely adjust the gravity center of the robot.
5. A robotic terrain management and multi-terrain gait control method according to any of claims 1, 2 and 4, characterized in that the preset angle is 15 °.
6. A control system based on the robot terrain management and multi-terrain gait control method of any one of claims 1-5, comprising a plurality of foot structures alternating between a support phase and a swing phase, further comprising:
the steering engine system is used for driving the foot structure to swing back and forth and left and right;
a gyroscope sensor for measuring the inclination of the foot structure;
a distance measuring sensor for measuring the distance from the foot structure tip to the ground, a triboelectric sensor for measuring an electrical signal of friction of the foot structure in contact with the ground, and a pressure sensor for measuring a pressure signal of the foot structure in contact with the ground, the distance measuring sensor, the triboelectric sensor, and the pressure sensor being arranged at the end of the foot structure for contacting the ground;
the system comprises a main control system, a foot terrain processing system, a terrain matching system and a motion control system, wherein the main control system is respectively in communication connection with the foot terrain processing system and the motion control system; the foot terrain processing system is used for analyzing and processing data collected by the gyroscope sensor, the distance measuring sensor, the friction electric sensor and the pressure sensor; the terrain matching system is used for comparing the data provided by the foot terrain processing system with a pre-stored terrain database and obtaining matched terrain data; and the master control system controls the steering engine system to drive the foot structure to act through the motion control system according to the analysis results of the foot terrain processing system and the terrain matching system.
7. The control system of claim 6, further comprising an environmental analysis system in communication with the environmental data collection device, wherein the terrain matching system and the master control system are each in communication with the environmental analysis system.
8. The control system of claim 7, wherein the environmental data collection device comprises at least a lidar and a camera.
9. A control system according to any of claims 6 to 8, wherein a plurality of the ranging sensors are provided and each of the ranging sensors is distributed around an edge array of the foot structure distal end.
10. The control system of claim 9, wherein the plurality of the friction electric sensors and the plurality of the pressure sensors are provided, and each of the friction electric sensors and each of the pressure sensors are arranged in a matrix in each of the ranging sensors.
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