CN113044131A - Bus-based quadruped robot - Google Patents
Bus-based quadruped robot Download PDFInfo
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- CN113044131A CN113044131A CN201911373072.XA CN201911373072A CN113044131A CN 113044131 A CN113044131 A CN 113044131A CN 201911373072 A CN201911373072 A CN 201911373072A CN 113044131 A CN113044131 A CN 113044131A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention relates to the technical field of robots, in particular to a bus-based quadruped robot; the invention comprises a machine body and four supporting legs arranged on the machine body; a main controller and a lithium battery which are connected are installed in the machine body, an EtherCAT bus is connected to the main controller, a leg movement controller which is electrically connected with the EtherCAT bus is arranged on a supporting leg, and a hip joint control mechanism for controlling the movement of a hip joint, a thigh joint control mechanism for controlling the movement of a thigh joint and a shank joint control mechanism for controlling the movement of a shank joint are respectively installed on a hip joint, a thigh joint and a shank joint of the supporting leg; the main controller controls the leg movement controller to work, so that the movement of the hip joint, the thigh joint and the shank joint of each supporting leg is controlled, and meanwhile, the main controller controls the main controller through the EtherCAT bus, so that each movement is rapid and flexible.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a bus-based quadruped robot.
Background
At present, there are three main human transportation modes: air transport, land transport and river and sea transport. The land transportation tool mainly has wheel type and crawler type moving modes; wheeled vehicles have been used in human material transportation for thousands of years since their appearance, greatly improving the efficiency of human material transportation, making an immeasurable contribution in the development of human civilization. Due to the insufficient terrain adaptability of wheeled vehicles, tracked vehicles have emerged with the development of modern technology. Compared with a wheeled vehicle, the terrain adaptability of the tracked vehicle is greatly improved, and the tracked vehicle can pass through complex terrains such as steep slopes, wide trenches and swamps; but the survey results of the army in 1967 show that nearly one-half of the ground is difficult to pass by using the traditional tracked vehicle. In this case, the need arises to realise a vehicle which can reach the ground which conventional wheeled vehicles, tracked vehicles, cannot reach; the mammals can adapt to terrains which cannot be adapted to a plurality of wheeled vehicles and tracked vehicles in a leg-foot walking mode, and the corresponding leg-foot type vehicles have better terrain adaptation capability than the wheeled vehicles and the tracked vehicles; the legged vehicle has the following advantages: the supporting points can be optimized by utilizing the discrete foot-falling point selection, the disturbance transmitted from the foot end to the trunk can be weakened by decoupling the foot end motion track and the trunk motion track, the obstacle can be crossed, and the legged vehicle can even adapt to all terrains in principle.
Leg-foot vehicles are still under development at present, but in the gradual development of leg-foot robots, enough experiences and concepts are built for the leg-foot vehicles, and the leg-foot robots can be divided into one-foot robots, two-foot robots, four-foot robots, six-foot robots and more-foot robots according to the number of legs and feet. Compared with other legged robots, the quadruped robot has better choices in the aspects of mechanical structure replication system, stability, movement speed and the like; from the perspective of the evolutionary theory, the four-foot moving mode is almost adopted by all terrestrial mammals, which shows that the four-foot moving mode has strong adaptability to the earth terrain, and simultaneously provides enough research examples for the research of the four-foot robot, so that the four-foot moving mode becomes a research hotspot; in the current research of the quadruped robot, the poor flexibility and large volume become the current big problems.
Disclosure of Invention
The invention mainly solves the technical problem of providing a bus-based quadruped robot, wherein a master controller is used for controlling a leg movement controller to work so as to control the movement of hip joints, thigh joints and shank joints of each supporting leg, and meanwhile, an EtherCAT bus is used for controlling the master controller, so that each movement is rapid and flexible.
In order to solve the technical problems, the invention adopts a technical scheme that: the bus-based quadruped robot comprises a machine body and four support legs arranged on the machine body; the machine is characterized in that a main controller and a lithium battery which are connected are installed in the machine body, an EtherCAT bus is connected to the main controller, a leg movement controller which is electrically connected with the EtherCAT bus is arranged on the supporting leg, and a hip joint control mechanism for controlling hip joint movement, a thigh joint control mechanism for controlling thigh joint movement and a shank joint control mechanism for controlling shank joint movement are respectively installed on a hip joint, a thigh joint and a shank joint of the supporting leg.
As an improvement of the present invention, the hip joint control mechanism comprises a first torque motor for driving the hip joint to move and a first motor driver for driving the first torque motor and electrically connected to the leg movement controller.
As a further improvement of the present invention, the thigh joint control mechanism includes a second torque motor for driving the thigh joint to move and a second motor driver for driving the second torque motor and electrically connected to the leg movement controller.
As a further improvement of the present invention, the lower leg joint control mechanism includes a third torque motor for driving the lower leg joint to move and a third motor driver for driving the third torque motor and electrically connected to the leg movement controller.
As a further improvement of the invention, the bottom of the supporting leg is provided with a foot end detection sensor which is electrically connected with the leg motion controller.
As a further improvement of the present invention, the machine body is provided with a visual navigation controller connected to the master controller through the EtherCAT bus, and the visual navigation controller is electrically connected to a binocular visual camera provided on the machine body.
As a further improvement of the present invention, the visual navigation controller is further electrically connected to a 360 ° laser sensor provided on the machine body.
As a further improvement of the present invention, the main controller is electrically connected to an inertial navigation module for performing positioning navigation.
As a further improvement of the present invention, the main controller is electrically connected to a sound source positioning module for collecting audio signals, and an audio sensor is disposed in the sound source positioning module.
As a further improvement of the present invention, the main controller is electrically connected to an environment monitoring module for monitoring the operation condition of the main controller, and an operation acquisition unit for acquiring the operation condition of the main controller, an analysis unit for analyzing data transmitted by the operation acquisition unit, and an alarm unit for alarming are disposed in the environment monitoring module.
The invention has the beneficial effects that: compared with the prior art, the leg movement controller is controlled by the master controller to work, so that the movement of the hip joint, the thigh joint and the shank joint of each supporting leg is controlled, and meanwhile, the master controller is used for controlling through the EtherCAT bus, so that each movement is rapid and flexible; according to the invention, the EtherCAT bus is used for quickly transmitting control signals, the hip joint, thigh joint and shank joint of each supporting leg can be controlled to quickly and flexibly move, and each supporting leg has 3 degrees of freedom, so that the control of 12 degrees of freedom can be realized, and the flexibility is greatly improved.
Drawings
FIG. 1 is a connection block diagram of the present invention;
FIG. 2 is a block diagram of the connection of a remote monitoring module within the present invention;
FIG. 3 is a block diagram of the internal connections of the environmental monitoring module of the present invention;
fig. 4 is a block diagram of the internal connection of the microphone module of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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.
As shown in fig. 1 to 4, the present invention provides a bus-based quadruped robot, which comprises a machine body and four support legs arranged on the machine body; the main controller and the lithium battery which are connected are installed in the machine body, the main controller is connected with an EtherCAT bus, the supporting leg is provided with a leg movement controller which is electrically connected with the EtherCAT bus, and a hip joint control mechanism for controlling hip joint movement, a thigh joint control mechanism for controlling thigh joint movement and a shank joint control mechanism for controlling shank joint movement are respectively installed on a hip joint, a thigh joint and a shank joint of the supporting leg.
In the invention, the leg movement controller is controlled by the master controller to work, so that the movement of the hip joint, the thigh joint and the shank joint of each supporting leg is controlled, and meanwhile, the master controller is used for controlling through an EtherCAT bus, so that each movement is rapid and flexible; according to the invention, the EtherCAT bus is used for quickly transmitting control signals, the hip joint, thigh joint and shank joint of each supporting leg can be controlled to quickly and flexibly move, and each supporting leg has 3 degrees of freedom, so that the control of 12 degrees of freedom can be realized, and the flexibility is greatly improved.
In the invention, an EtherCAT bus is adopted for connection transmission signal control, based on the EtherCAT bus, the EtherCAT achieves a new height on the network performance, the refresh period of 1000 distributed I/O data is only 30 mus, including the terminal cycle time; up to 1486 bytes of process data, which corresponds almost to 12000 digital quantities of I/O, can be exchanged via an ethernet frame. And this amount of data is transmitted only in 300 mus; the control method which cannot be realized by a traditional field bus system can be realized by utilizing the EtherCAT bus, so that an ultra-high speed control loop can be formed through the EtherCAT bus, functions which previously need to be supported by local special hardware can be mapped in software, huge bandwidth resources enable state data and any data to be transmitted in parallel, and the high-speed circulation of the EtherCAT can be completed between two control loops. Therefore, the controller always has available latest input data, the delay of output addressing is minimum, and the response behavior of the controller is obviously improved on the basis of not enhancing the computing power of the controller, so that the control frequency of the invention can be higher, and the control precision is greatly improved.
In the invention, the hip joint control mechanism comprises a first torque motor for driving the hip joint to move, a first motor driver for driving the first torque motor and electrically connected with the leg movement controller, a first sensor electrically connected with the first motor driver, a first temperature sensor electrically connected with the first torque motor, and a first absolute value encoder electrically connected with the first motor driver; the first motor driver drives the first torque motor to drive the hip joint to move, and the first sensor is electrically connected with the first motor driver so as to transmit a sensing signal to the first motor driver and better control the first torque motor to drive the hip joint to move; the first temperature sensor transmits a temperature signal to the first torque motor to work, the first absolute value encoder can control the first motor driver, and an external interface is reserved for subsequent improved control.
In the invention, the thigh joint control mechanism comprises a second torque motor for driving a thigh joint to move, a second motor driver for driving the second torque motor and electrically connected with the leg movement controller, a second sensor electrically connected with the second motor driver, a second temperature sensor electrically connected with the second torque motor, and a second absolute value encoder electrically connected with the second motor driver; the second motor driver drives the second torque motor to drive the thigh joint to move, and the second sensor is electrically connected with the second motor driver so as to transmit a sensing signal to the second motor driver and better control the second torque motor to drive the thigh joint to move; the second temperature sensor transmits the temperature signal to the second torque motor to work, the second absolute value encoder can control the second motor driver, and an external interface is reserved for subsequent improvement and control.
In the invention, the shank joint control mechanism comprises a third torque motor for driving the shank joint to move, a third motor driver for driving the third torque motor and electrically connected with the leg movement controller, a third sensor electrically connected with the third motor driver, a third temperature sensor electrically connected with the third torque motor, and a third absolute value encoder electrically connected with the third motor driver; the third motor driver drives the third torque motor to drive the shank joint to move, and the third sensor is electrically connected with the third motor driver so as to transmit a sensing signal to the third motor driver and better control the third torque motor to drive the shank joint to move; the third temperature sensor transmits a temperature signal to the third torque motor to work, the third absolute value encoder can control the third motor driver, and an external interface is reserved for subsequent improved control.
Specifically, the invention has 12 degrees of freedom, each supporting leg has 3 degrees of freedom, namely a hip joint, a thigh joint and a shank joint; the hip joint, the thigh joint and the crus joint are directly driven and controlled by a large-torque moment motor; the main controller realizes the motion planning, sensor data acquisition and the like of the quadruped robot, and each joint motor is controlled by a servo driver; the invention has four-foot support, and the driving motors are distributed in a centralized way, and the leg parts realize a light leg structure, the invention has the characteristic of discontinuous support, can span rugged and complex terrains, has the characteristics of higher flexibility, obstacle crossing, obstacle avoidance, multi-terrain self-adaptation and the like, and has higher practicability and applicability; the body frame is compact in design, the main controller, the driver and the sensor are integrated in the body, and the overall design is smaller and more flexible than that of a hydraulic quadruped robot.
In the invention, the bottom of the supporting leg is provided with a foot end detection sensor which is electrically connected with the leg motion controller, specifically, the foot end detection sensor is selected for foot ground contact detection of the supporting leg, and the foot end detection sensor is used for judging whether the robot falls to the ground or not, so that the robot is subjected to poor planning, balance control and the like.
In the invention, the machine body is provided with a visual navigation controller connected with the main controller through the EtherCAT bus, and the visual navigation controller is electrically connected with a binocular visual camera arranged on the machine body; the visual navigation controller is also electrically connected with a 360-degree laser sensor arranged on the machine body; specifically, a 360-degree laser sensor and a binocular vision camera are integrated above the robot body, and the 360-degree laser sensor and the binocular vision camera mainly achieve the motion navigation function of the robot, so that the robot can perform the functions of autonomous walking, autonomous obstacle avoidance, obstacle crossing of road obstacle recognition, stair steps and other real environment recognition in an external environment, and the robot has more intelligent and flexible vision. The main controller is electrically connected with the inertial navigation module for positioning and navigation, so that the self-contained navigation is performed by combining the binocular vision camera.
In the invention, the main controller is electrically connected with a sound source positioning module for collecting audio signals, and an audio sensor is arranged in the sound source positioning module, in particular, the invention has the functions of sound identification and collection, collects wild animal audio and video data by sensing surrounding sound, carrying out field investigation, audio collection and other work, enriches the sound source positioning module, increases the intelligence of the invention, and is more intelligent and more capable of serving human beings on the basis of stable motion.
In the invention, as shown in fig. 3, the main controller is electrically connected with an environment monitoring module for monitoring the operation condition of the main controller, and an operation acquisition unit for acquiring the operation condition of the main controller, an analysis unit for analyzing data transmitted by the operation acquisition unit and an alarm unit for alarming are arranged in the environment monitoring module; the monitoring system can display various running data sent by the robot in real time on a page, and provides a function of setting a threshold value for a certain parameter, and when the value exceeds the threshold value, the monitoring system gives an alarm and records the alarm, and the monitoring system can be used as a basis for analysis.
In the invention, as shown in fig. 2, the master controller is electrically connected with the remote monitoring module, the remote monitoring module is also electrically connected with the binocular vision camera, and a wireless transmitting unit for transmitting the video shot by the binocular vision camera is arranged in the remote monitoring module; the invention can be used for outdoor investigation, military material transportation, emergency rescue, unmanned area exploration and other functions, can realize remote monitoring, has low noise and longer endurance, and is more suitable for field application compared with a hydraulic quadruped robot.
In the present invention, as shown in fig. 4, the main controller is connected to the microphone module, the microphone module is internally provided with a speaker electrically connected to the main controller and a wireless receiving unit for receiving a wireless signal, and the wireless receiving unit can receive an audio signal and convert the audio signal into sound for emission by the speaker.
The invention realizes the development of the walking extension function of the quadruped robot under multiple environments and multiple paths, is used for the functions of field investigation and the like, increases the loading capacity of the robot and is used for field material transportation; the system is also provided with modules such as laser and vision and is applied to multiple fields such as service pleasure; the robot can be developed and set individually in the aspects of actions, instructions, walking, functions and the like through a reserved development interface.
The invention is safe and reliable, the movement mode of the invention has great breakthrough, can realize diagonal jogging, jumping, fast running, going up and down stairs, climbing (30 degrees) and the like, and the invention has a monitoring system, bus control and the like, and the real-time control is better applied; it has more flexibility, security than blind action quadruped robot, compares and can be better be applied to rugged road surface than wheeled robot.
The interface of the secondary development platform is reserved, programmable and developable; the structure of the robot is optimized, the leg and foot structural design is realized, the torque motor directly drives the joint development, the variable leg design can realize the random switching of various leg types such as the whole elbow and the whole knee, the algorithm is self-adaptive, a plurality of sensors are carried, the autonomous obstacle avoidance walking function is realized, and the robot is obviously different from products developed in China.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A bus-based quadruped robot is characterized by comprising a machine body and four support legs arranged on the machine body; the machine is characterized in that a main controller and a lithium battery which are connected are installed in the machine body, an EtherCAT bus is connected to the main controller, a leg movement controller which is electrically connected with the EtherCAT bus is arranged on the supporting leg, and a hip joint control mechanism for controlling hip joint movement, a thigh joint control mechanism for controlling thigh joint movement and a shank joint control mechanism for controlling shank joint movement are respectively installed on a hip joint, a thigh joint and a shank joint of the supporting leg.
2. The bus-based quadruped robot as claimed in claim 1, wherein the hip joint control mechanism comprises a first torque motor for driving a hip joint and a first motor driver for driving the first torque motor and electrically connected to the leg movement controller.
3. The bus-based quadruped robot as claimed in claim 1, wherein the thigh joint control mechanism comprises a second torque motor for driving the thigh joint to move and a second motor driver for driving the second torque motor and electrically connected to the leg movement controller.
4. The bus-based quadruped robot as claimed in claim 1, wherein the lower leg joint control mechanism comprises a third torque motor for driving the lower leg joint to move and a third motor driver for driving the third torque motor and electrically connected to the leg movement controller.
5. The bus-based quadruped robot as claimed in claim 1, wherein the bottom of the support legs are provided with foot end detection sensors electrically connected with the leg motion controller.
6. The bus-based quadruped robot as claimed in claim 1, wherein the robot body is provided with a visual navigation controller connected with the main controller through the EtherCAT bus, and the visual navigation controller is electrically connected with a binocular visual camera arranged on the robot body.
7. The bus-based quadruped robot as claimed in claim 6, wherein the visual navigation controller is further electrically connected with a 360 ° laser sensor disposed on the robot body.
8. The bus-based quadruped robot as claimed in claim 1, wherein the master controller is electrically connected with an inertial navigation module for positioning and navigation.
9. The bus-based quadruped robot as claimed in claim 1, wherein the master controller is electrically connected with a sound source positioning module for collecting audio signals, and an audio sensor is disposed in the sound source positioning module.
10. The bus-based quadruped robot according to claim 1, wherein the master controller is electrically connected with an environment monitoring module for monitoring the operation condition of the master controller, and an operation acquisition unit for acquiring the operation condition of the master controller, an analysis unit for analyzing data transmitted by the operation acquisition unit and an alarm unit for alarming are arranged in the environment monitoring module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911373072.XA CN113044131A (en) | 2019-12-27 | 2019-12-27 | Bus-based quadruped robot |
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| CN201911373072.XA CN113044131A (en) | 2019-12-27 | 2019-12-27 | Bus-based quadruped robot |
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| CN113044131A true CN113044131A (en) | 2021-06-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162067A (en) * | 2021-12-16 | 2022-03-11 | 深圳市优必选科技股份有限公司 | Quadruped robot and bus module thereof |
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| CN102785250A (en) * | 2012-08-23 | 2012-11-21 | 中国科学院自动化研究所 | Motion controller of four-leg robot |
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| CN114162067A (en) * | 2021-12-16 | 2022-03-11 | 深圳市优必选科技股份有限公司 | Quadruped robot and bus module thereof |
| CN114162067B (en) * | 2021-12-16 | 2024-03-15 | 深圳市优必选科技股份有限公司 | Four-foot robot and bus module thereof |
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Application publication date: 20210629 |