CN112078685B - Frog-back-leg-simulated posture regulating device, jumping robot and posture regulating method - Google Patents
Frog-back-leg-simulated posture regulating device, jumping robot and posture regulating method Download PDFInfo
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- CN112078685B CN112078685B CN202010892627.8A CN202010892627A CN112078685B CN 112078685 B CN112078685 B CN 112078685B CN 202010892627 A CN202010892627 A CN 202010892627A CN 112078685 B CN112078685 B CN 112078685B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention provides a frog-back-leg-simulated posture regulating device, a jumping robot and an air posture regulating method, wherein the frog-back-leg-simulated posture regulating device comprises a jumping jet tank, two back-leg structures, an inertial sensor and a controller; the jumping jet tank is provided with a mounting structure, the controller, the inertial sensor and the two rear leg structures are all arranged on the mounting structure, the inertial sensor is in signal connection with the controller, and the controller is used for controlling the two rear leg structures to swing synchronously or asynchronously; the two installation seats are arranged on the installation structure, are positioned on the same side of the jumping jet tank and are symmetrical with each other relative to a plane where the axis of the jumping jet tank is positioned; the rear leg structure comprises a steering engine, a steering wheel, an output shaft and swing legs, the steering engine is arranged on the mounting seat, the output shaft is connected to the steering engine through the steering wheel and is driven by the steering engine, and the swing legs are arranged on the output shaft and swing along with the output shaft; the invention can smoothly realize the self-attitude adjustment of the whole device in the air.
Description
Technical Field
The invention belongs to the field of bionic jumping robots, and particularly relates to a frog-like rear leg posture regulating and controlling device with a frog-like rear leg aerial posture regulating function and a jumping robot. In addition, the method also relates to an air posture regulation and control method for regulating the posture of the frog through the swinging of the rear leg in the jumping process.
Background
The hopping robot can perform hopping actions to cross obstacles (such as water hopping, land hopping or amphibious hopping), so that the hopping robot can efficiently pass through complex terrains, and has wide application prospects in the fields of space exploration, battlefield reconnaissance, life rescue and the like.
However, most of the existing jumping robots can only realize the function of single jumping, and cannot realize continuous jumping for many times. The key to the problem is that the attitude of the hopping robot in the air is difficult to adjust. Once the jumping device does not have the function of adjusting the attitude in the air, not only is it difficult to accurately control the falling place, but also the problem that the jumping device is damaged due to collision with other objects during falling is easy to occur.
Chinese patent document 2019107667076 discloses a hopping robot having an aerial posture adjustment function, including: the control device, the longitudinal jumping device, the inertial sensor arranged on the jumping device, the pitching angle adjusting device and the yawing angle adjusting device; the pitching angle adjusting device comprises a first steering engine, a first transmission belt driven by the first steering engine and a first mass block arranged on the first transmission belt, and the position of the first mass block in the longitudinal direction of the jumping device is changed along with the movement of the first transmission belt; the yaw angle adjusting device comprises a second steering engine, a second driving belt and a first mass roller, wherein the second driving belt is arranged around the circumferential direction of the jumping device, the first mass roller is arranged between the second driving belt and the jumping device, and the first mass roller changes the position of the jumping device in the circumferential direction along with the movement of the second driving belt. In the prior art, the pitching angle and the yawing angle of the jumping device are adjusted according to the gravity center change principle, so that the jumping device keeps a reasonable posture.
In nature, frogs are species with excellent jumping performance and can smoothly realize continuous jumping for many times. Therefore, the invention designs the frog-imitating rear leg posture regulating and controlling device, the jumping robot and the air posture regulating and controlling method by using the bionic method and by taking the principle that the body posture is regulated by swinging the rear leg of the frog in the jumping process as reference.
Disclosure of Invention
Aiming at the defects of the prior art, the invention mainly aims to provide a frog-back-leg-simulated posture regulating device, a jumping robot and an air posture regulating method.
In order to achieve the above and other objects, according to one aspect, the present invention provides a device for controlling a posture of a rear leg of a frog, comprising:
a hopping spray tank;
two rear leg structures;
the inertial sensor is used for detecting the pitch angle and the roll angle of the jumping jet tank in real time;
and
a controller;
the jumping jet tank is provided with a mounting structure, the controller, the inertial sensor and the two rear leg structures are all arranged on the mounting structure, the inertial sensor is in signal connection with the controller, and the controller is used for controlling the two rear leg structures to swing synchronously or asynchronously;
the two installation seats are arranged on the same side of the jumping jet tank and are symmetrical with each other relative to a plane on which the axis of the jumping jet tank is located;
the rear leg structure comprises a steering engine, a steering wheel, an output shaft and swing legs, the steering engine is arranged on the mounting seat, the output shaft is connected to the steering engine through the steering wheel and is driven by the steering engine, and the swing legs are arranged on the output shaft and swing along with the rotation of the output shaft;
the controller simultaneously judges the actual pitch angle detected by the inertial sensor and a preset pitch angle to control and drive the swing legs in the two rear leg structures to synchronously swing in the same direction, and simultaneously judges the actual rolling angle detected by the inertial sensor and a preset rolling angle to control and drive the swing legs in the two rear leg structures to asynchronously swing in different directions.
In the technical scheme of the invention, a reasonable pitch angle and roll angle range is preset for the whole device, and after the device is launched for jumping, if the controller determines that the pitch angle and the roll angle of the whole device exceed the preset range based on the detection signal of the inertial sensor, the controller drives the steering engines in the two rear leg structures to rotate correspondingly so as to drive the swing legs to swing.
The jumping jet tank can be filled with high-pressure propellant, the high-pressure propellant is jetted to generate thrust to enable the device to jump integrally, and the controller comprises a control circuit board and a control power supply.
According to another embodiment of the invention, the lower end of the skip spray tank is a spray opening, and the mounting structure is disposed at the lower portion of the skip spray tank.
According to another embodiment of the invention, the swing legs of the two rear leg structures have the same installation attitude in which the center lines of the swing legs of the two rear leg structures and the axis of the jump jet tank itself are perpendicular to each other.
According to another embodiment of the invention, the output shaft of the rear leg structure is arranged perpendicular to the axis of the jump jet tank and the center line of the swing leg.
According to another embodiment of the present invention, the mounting structure is attached to the hopping spray canister by a plurality of fixed snap rings that are arranged in an array or in opposition.
On the other hand, the invention also provides a hopping robot with an aerial posture adjusting function, which comprises the device for adjusting and controlling the posture of the rear leg of the imitated frog.
In another aspect, the invention provides an aerial posture control method for regulating posture based on frog swinging through rear leg in jumping process, which is realized by adopting the control device imitating frog rear leg posture, and the aerial posture control method comprises the following steps:
controlling and driving swing legs capable of generating swing moments in the two rear leg structures to swing in the same direction and in the opposite direction to the change of the overall attitude direction of the device according to the acquired deviation between the actual pitch angle and the preset pitch angle, and enabling the overall attitude of the device to be adjusted to the preset pitch angle range through the swing moments generated by the synchronous upward or downward swinging of the two swing legs;
and controlling and driving the swing legs capable of generating swing torque in the two rear leg structures to swing in an asynchronous opposite direction in a way of changing the direction of the integral attitude of the device according to the deviation between the obtained actual rolling angle and the preset rolling angle, and adjusting the integral attitude of the device to the preset rolling angle range through the swing torque generated by the upward swing of one swing leg and the swing torque generated by the downward swing of the other swing leg.
The invention has the following beneficial effects:
the device for regulating and controlling the posture of the imitated frog rear leg has the advantages of compact structure, convenience in loading and unloading, high energy utilization rate and strong loading capacity, has good obstacle crossing capacity and movement capacity in various environments, and can smoothly realize the regulation of the posture of the whole device in the air, thereby better landing and realizing continuous jumping.
In addition, when the pitch angle exceeds a preset range, the posture change of the device in the pitch direction can be realized by controlling the synchronous equidirectional swing of the two swing legs in the two rear leg structures, and when the roll angle exceeds the preset range, the posture change of the whole device in the roll direction can be realized by controlling the asynchronous equidirectional swing of the two swing legs in the two rear leg structures.
The jumping robot has the advantages of compact structure, high energy utilization rate and strong loading capacity, and can realize the aerial attitude adjustment, thereby accurately controlling the falling place and preventing or reducing the damage of the jumping robot caused by collision with other objects when the jumping robot falls.
In order to clearly illustrate the objects, technical solutions and advantages of the present invention, the present invention is further described in detail with reference to the following embodiments.
Drawings
FIG. 1 is a schematic structural diagram of a frog-back-leg-posture-imitating control device according to the present invention;
FIG. 2 is a side view of FIG. 1;
FIG. 3 is a front view of FIG. 2;
fig. 4 is a schematic illustration of the rear leg configuration of the present invention.
Detailed Description
As shown in fig. 1 to 4, the device for controlling the posture of the rear leg of the simulated frog according to the limited embodiment of the present invention comprises: a skip spray tank 10, a mounting structure 20, two rear leg structures 30, an inertial sensor and a controller 40.
The jumping jet tank 10 is of a cylindrical structure shown in fig. 1, high-pressure propellant can be added into the jumping jet tank 10, a jet orifice 11 is formed in the lower end of the jumping jet tank 10, after a valve at the jet orifice 11 at the lower portion of the jumping jet tank 10 is opened, thrust is generated through jetting of the high-pressure propellant, and the whole device can be triggered to jump off the ground under the action of the reaction thrust.
The mounting structure 20 is lockingly attached to the jump jet tank 10 by a plurality of retaining snap rings 21 in cooperation with bolts, such as the arrangement of four retaining snap rings 21 shown in fig. 2, wherein the mounting structure 20 is disposed in an offset manner, as shown in fig. 2, with the mounting structure 20 being located entirely on the right side of the jump jet tank 10 and on the lower portion of the jump jet tank 10.
The controller 40 and an inertial sensor (not shown in the figures) are arranged on the mounting structure 20, the controller 40 comprises a control circuit board 41 and a control power supply 42, the control circuit board 41 and the control power supply 42 are fixed in a gluing and/or bolt connection mode, the inertial sensor adopts a six-axis high-precision attitude sensor for detecting the pitch angle and the roll angle of the device in the air after being lifted off the ground, the inertial sensor is in signal connection with the controller 40, and the controller 40 is used for controlling the two rear leg structures 30 to swing synchronously or asynchronously.
Two mounting seats 22 are provided in the mounting structure 20, the two mounting seats 22 being located on the same side of the jump jet tank 10 and the two mounting seats 22 being symmetrical to each other about a plane D in which the axis L1 of the jump jet tank 10 itself lies, the two rear leg structures 30 also being arranged in a symmetrical manner on the two mounting seats 22.
Taking the left rear leg structure 30 as an example, as shown in fig. 4, the rear leg structure 30 includes a steering engine 31, a steering wheel 32, an output shaft 33, and a swing leg 34, the steering engine 31 is fixedly disposed on the mounting base 22, the output shaft 33 is connected to the steering engine 31 through the steering wheel 32 and is driven by the steering engine 31, and the swing leg 34 is mounted on the output shaft 33 and swings with the rotation of the output shaft 33.
The swing leg 34 is preferably made of metal alloy, which has a certain mass, and the structure shape is preferably regular shape, such as plate shape, and furthermore, the overall mass distribution of the swing leg 34 is backward (i.e. away from the output shaft 33), such as the swing leg 34 structure shown in fig. 4, which includes a plate shape with a small near end and a large far end, and the thickness of the far end exceeds the thickness of the near end, so that the center of gravity of the swing leg 34 is close to the far end, so as to provide more effective swing moment when swinging.
Specifically, as shown in fig. 2, the swing legs 34 in the two rear leg structures 30 have the same mounting posture in which the center lines L2 of the swing legs 34 in the two rear leg structures 30 are perpendicular to the axis L1 of the jump jet tank 10 itself.
More specifically, as shown in fig. 2 and 3, the output shaft 33 of the rear leg structure 30 is disposed perpendicular to the axis L1 of the jump jet tank 10 itself and the center line L2 of the swing leg 34, respectively.
The controller 40 of the present invention simultaneously determines the actual pitch angle detected by the inertial sensor and the preset pitch angle to drive the swing legs 34 of the two rear leg structures 30 to swing synchronously and in the same direction, and the controller 40 simultaneously determines the actual roll angle detected by the inertial sensor and the preset roll angle to drive the swing legs 34 of the two rear leg structures 30 to swing asynchronously and in different directions.
It is easy to understand that the hopping jet tank 10 of the present invention can also be used as a land hopping device, such as a gas-driven land hopping device disclosed in chinese patent document CN105882776A, and can also be used as an amphibious hopping device, such as an amphibious hopping device based on high-pressure gas driving disclosed in chinese patent document CN108482035A, and will not be described herein again.
The invention provides the hopping robot with the air posture adjusting function simultaneously according to the frog-imitating hind leg posture adjusting and controlling device.
The invention also provides an aerial posture regulation and control method for regulating the posture of a frog in a jumping process through swinging of the rear leg, which is realized by adopting the regulation and control device imitating the posture of the rear leg of the frog, and the aerial posture regulation and control method comprises the following steps:
controlling and driving swing legs capable of generating swing moments in the two rear leg structures to swing in the same direction and in the opposite direction to the change of the overall attitude direction of the device according to the acquired deviation between the actual pitch angle and the preset pitch angle, and enabling the overall attitude of the device to be adjusted to the preset pitch angle range through the swing moments generated by the synchronous upward or downward swinging of the two swing legs;
and controlling and driving the swinging of the two rear leg structures capable of generating swinging torque to make asynchronous anisotropic swinging opposite to the change of the overall attitude direction of the device according to the deviation between the obtained actual rolling angle and the preset rolling angle, and adjusting the overall attitude of the device to the preset rolling angle range by the swinging torque generated by the upward swinging of one swinging leg and the swinging torque generated by the downward swinging of the other swinging leg.
An example adjustment process of an air attitude regulation method is as follows:
the preset pitch angle range is 80-100 degrees, the actual pitch angle detected by the inertial sensor in a single jumping period is 110 degrees, at the moment, the controller drives the swing legs in the two rear leg structures to synchronously swing upwards for a certain angle, for example, about 20-30 degrees (exceeding the deviation value of the pitch angle and being set according to actual requirements), the swing moments generated by the swing legs in the two rear leg structures act on the device, and finally the posture of the device is adjusted to be within the preset pitch angle range.
The preset rolling angle is 30-50 degrees, the actual rolling angle detected by the inertial sensor in a single jumping period is 20 degrees (namely, 10 degrees of leftward deviation), at the moment, the controller drives the swinging leg in one rear leg structure (the rear leg structure at one side along the deviation direction, namely, the rear leg structure at the left side) to swing upwards by a certain angle, for example, about 20 degrees to 30 degrees (exceeding the deviation value of the rolling angle and being set according to actual requirements), the controller drives the other rear leg structure to swing downwards for a certain angle, for example, about 20 to 40 degrees (exceeding the deviation value of the rolling angle, and preferably being larger than the swing angle of the swing leg swinging upwards, which is set according to actual requirements), the swing moment generated by the asynchronous and opposite swinging of the swing legs in the two rear leg structures acts on the device, and finally the posture of the device is adjusted to be within the preset rolling angle range.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that variations may be made without departing from the scope of the invention, and equivalents may be resorted to without departing from the scope of the invention.
Claims (1)
1. An aerial posture regulation and control method for regulating posture based on frog through back leg swing in a jumping process is characterized in that the method is realized by adopting a regulation and control device imitating the posture of the back leg of the frog, wherein the regulation and control device comprises a jumping jet tank, two back leg structures, an inertial sensor used for detecting the pitch angle and the roll angle of the jumping jet tank in real time and a controller;
the jumping jet tank is provided with a mounting structure, and the mounting structure is connected to the jumping jet tank through a plurality of fixed snap rings which are distributed in an array manner or are oppositely arranged; the controller, the inertial sensor and the two rear leg structures are all arranged on the mounting structure, the inertial sensor is in signal connection with the controller, and the controller is used for controlling the two rear leg structures to swing synchronously or asynchronously;
the lower end of the jumping spray tank is provided with a spray opening, and the mounting structure is arranged at the lower part of the jumping spray tank;
the two installation seats are positioned on the same side of the jumping jet tank, and the two installation seats are symmetrical with each other relative to a plane where the axes of the jumping jet tank are positioned;
the rear leg structure comprises a steering engine, a steering wheel, an output shaft and swing legs, the steering engine is arranged on the mounting seat, the output shaft is connected to the steering engine through the steering wheel and driven by the steering engine, and the swing legs are mounted on the output shaft and swing along with the rotation of the output shaft;
wherein the output shaft in the rear leg structure is respectively perpendicular to the axis of the jumping jet tank and the central line of the swing leg;
the swing legs in the two rear leg structures have the same installation posture, and the central lines of the swing legs in the two rear leg structures are perpendicular to the axis of the jumping jet tank per se in the installation posture;
the air attitude regulation and control method comprises the following steps:
controlling and driving swing legs capable of generating swing moments in the two rear leg structures to swing in the same direction and in the opposite direction to the change of the overall attitude direction of the device according to the acquired deviation between the actual pitch angle and the preset pitch angle, and enabling the overall attitude of the device to be adjusted to the preset pitch angle range through the swing moments generated by the synchronous upward or downward swinging of the two swing legs;
and controlling and driving the swing legs capable of generating swing torque in the two rear leg structures to swing in a direction opposite to the direction of the integral posture of the device and in a asynchronous and opposite direction according to the deviation between the obtained actual rolling angle and the preset rolling angle, and adjusting the integral posture of the device to the preset rolling angle range through the swing torque generated by upward swing of one swing leg and the swing torque generated by downward swing of the other swing leg.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010892627.8A CN112078685B (en) | 2020-08-28 | 2020-08-28 | Frog-back-leg-simulated posture regulating device, jumping robot and posture regulating method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010892627.8A CN112078685B (en) | 2020-08-28 | 2020-08-28 | Frog-back-leg-simulated posture regulating device, jumping robot and posture regulating method |
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| CN112078685A CN112078685A (en) | 2020-12-15 |
| CN112078685B true CN112078685B (en) | 2022-03-22 |
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| CN113120106B (en) * | 2021-05-17 | 2022-02-22 | 哈尔滨工业大学 | Combustion and explosion driven rigid-flexible coupling frog-imitating robot |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4482677B2 (en) * | 2005-05-25 | 2010-06-16 | 学校法人千葉工業大学 | Leg wheel separation type robot |
| KR20110082712A (en) * | 2010-01-12 | 2011-07-20 | 삼성전자주식회사 | Robot and control method thereof |
| CN105882776B (en) * | 2016-04-22 | 2017-11-14 | 哈尔滨工业大学深圳研究生院 | A kind of gas driven jump device |
| CN106864621B (en) * | 2017-04-01 | 2018-12-04 | 吉林大学 | A kind of mechanical foot of bionical two toe with vola sensing capability |
| CN108214519B (en) * | 2017-12-18 | 2020-04-28 | 北京航空航天大学 | Self-adjusting quadruped robot from any attitude to landing attitude in air |
| CN108482035B (en) * | 2018-03-27 | 2020-02-07 | 哈尔滨工业大学（深圳） | Amphibious jumping propulsion device based on high-pressure gas driving |
| CN110141875A (en) * | 2019-06-19 | 2019-08-20 | 广西本博科技有限公司 | A kind of intelligent bionic animal system and application method |
| CN110406655B (en) * | 2019-08-20 | 2021-03-02 | 哈尔滨工业大学（深圳） | Jumping robot with air posture adjusting function |
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