CN117103285A - Steering engine walking robot and motion control method thereof - Google Patents
Steering engine walking robot and motion control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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Abstract
The invention relates to the technical field of robot control, and discloses a motion control method of a steering engine walking robot and the robot, wherein the method comprises the following steps: acquiring initial attitude data of a robot, wherein the initial attitude data comprise the current position and the attitude of each steering engine; acquiring a motion state change instruction, wherein the motion state change instruction comprises the target point position, a motion mode and a motion speed of the robot; generating Bezier curve motion parameters of each steering engine according to the initial attitude data and the motion state change instruction, and fitting the motion trail of the steering engine; in the fitting process, the speed of the steering engine passing through the middle loci at the two ends of the track line is higher than that of the steering engine passing through the non-middle loci; and finally, converting the Bezier curve motion parameters into steering engine control signals, and receiving and moving the steering engine according to the signals. The invention can effectively avoid the overshoot and the shake of the steering engine joint, thereby reducing noise, reducing the abrasion of mechanical parts, prolonging the service life of the robot and reducing the deviation of the motion trail.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a motion control method of a steering engine walking robot and the robot.
Background
With the continuous progress of science and technology, steering engine walking robots are gradually developed into multipurpose robots, and are widely applied to the fields of education, entertainment, medical treatment, military and the like. Among them, steering engine walking robots are becoming more and more popular in the educational field, as it can help students better understand the principles of robot motion and programming. Currently, when a steering engine walking robot needs to change a motion state, for example, a uniform motion state is changed into a static state, a turning state, an acceleration motion state and the like, a path planning algorithm such as: circular dilation, fuzzy control, artificial potential field, vector field histogram, etc.
However, in the process of implementing the technical solution according to the embodiment of the present application, the present inventors have found that the technical solution at least has the following technical problems:
such as artificial potential field algorithms, tend to trap locally to a minimum and cannot move to an endpoint; although the fuzzy control method has relatively good real-time performance, the fuzzy control method is easy to fall into U-shaped deadlock. Most optimization algorithms still suffer from poor real-time performance and poor optimization performance for environments handling multiple obstacles. The traditional steering engine walking robot is direct in motion control, when the distance between the target position of the steering engine walking robot and the current position is large or the changing speed is large, the phenomenon of overshoot and shaking of a steering engine joint during motion is easy to occur, noise is generated, and meanwhile abrasion of mechanical parts is large, and the service life is short; meanwhile, as the steering engines of the steering engine walking robots are connected in series and mutually affected, the motion trail of the steering engine walking robots is deviated, and the motion accuracy of the steering engine walking robots is affected.
Disclosure of Invention
The invention aims to solve the problems that the existing steering engine walking robot generates noise, mechanical parts are worn more, the service life is shorter and the motion track is deviated in the motion process of the steering engine walking robot because of the overshoot and the shake of steering engine joints in the motion process.
The aim of the invention is mainly achieved by the following technical scheme:
in a first aspect, a motion control method for a steering engine walking robot includes the steps of:
acquiring initial attitude data of a robot, wherein the initial attitude data comprise the current position and the attitude of each steering engine, and the steering engines are positioned at leg joints of the robot;
acquiring a motion state change instruction, wherein the motion state change instruction comprises the target point position, a motion mode and a motion speed of the robot;
generating Bezier curve motion parameters of each steering engine according to the initial attitude data and the motion state change instruction, and fitting the motion trail of the steering engine;
and converting the Bezier curve motion parameters into steering engine control signals, and receiving and moving according to the steering engine control signals by the steering engine.
Further, generating a bezier curve motion parameter of each steering engine according to the initial gesture data and the motion state change instruction, wherein the step of fitting the motion trail of the steering engine comprises the following steps: and taking at least one middle locus between two ends of a motion track line fitted by each steering engine, and enabling the motion speed of the steering engine passing through the middle locus to be greater than the motion speed of the steering engine passing through non-middle locus.
Further, the bezier curve motion parameters include a start point, an end point, a curvature, an arc length, a rotation angle, a swing angle and a motion speed.
Further, after the steering engine receives and performs the moving step according to the steering engine control signal, the method further comprises the following steps: and acquiring the motion gesture data of the robot, adjusting Bezier curve motion parameters according to the motion gesture data, and correcting the motion trail of the robot according to the adjusted motion parameters.
In a second aspect, a steering engine walking robot includes:
the robot comprises a robot main body, a control system and a steering engine system; the robot comprises a robot body and at least two legs, wherein the upper ends of the legs are connected with the bottom of the robot body through steering gears and used for supporting the robot body and keeping the gravity center of the robot body balanced, the legs respectively comprise thighs, shanks and soles, and the thighs, the shanks and the soles are sequentially connected in series through the steering gears; the control system and the steering engine system are respectively arranged in the robot main body and are connected with each other, and the control system is used for acquiring initial attitude data and a motion state change instruction, generating Bezier curve motion parameters and sending the Bezier curve motion parameters to the steering engine system; the control system comprises a middle position point setting module, wherein the middle position point setting module is used for taking at least one middle position point between two ends of the motion track line and setting the motion speed of the steering engine according to a preset mode; the steering engine system comprises a plurality of steering engines which are respectively arranged at joints among thighs, calves and soles and used for driving the thighs, calves and soles to perform Bezier curve motion.
Further, the control system comprises a computer module, a sensor module and a driving module; the computer module is used for receiving the initial gesture data and the motion state change instruction and generating Bezier curve motion parameters; the sensor module is connected with the computer module and is used for monitoring the position of the steering engine and the movement gesture of the robot in real time and feeding back the position and the movement gesture to the computer module; the driving module is connected with the computer module and used for transmitting Bezier curve motion parameters generated by the computer module to the steering engine system.
Further, the steering engine system comprises a steering engine, a speed changer and an encoder; the steering engine moves according to the Bezier curve movement parameters; the speed changer is connected with the steering engine and is used for adjusting the movement speed and/or direction of the steering engine; the encoder is connected with the steering engine and used for monitoring the motion gesture of the steering engine and feeding back gesture information to the control system.
Further, the robot balancing system further comprises a balancing system, wherein the balancing system is connected with the control system and used for receiving instructions of the control system and adjusting the balancing system of the robot.
Further, the balance system comprises a gravity sensor and an adjusting mechanism, wherein the gravity sensor is used for monitoring the gravity distribution of the robot, and the adjusting mechanism is used for carrying out posture adjustment according to the monitoring result of the gravity sensor.
Further, the robot further includes: an upper computer; and the controller is connected with the control system and is used for sending instructions to the controller.
One or more technical schemes provided by the invention have at least the following technical effects or advantages:
1. according to the invention, by acquiring the initial gesture data and the motion state change instruction, a basis and a definite direction can be provided for the motion of the robot, and the stability and the precision of the motion are improved;
2. according to the invention, by generating the Bezier curve motion parameters of each steering engine, the motion track of the robot is smoother and more accurate, abrupt steering or acceleration is avoided, and the stability is improved;
3. the method of arranging the middle points between the two ends of the motion track described by the Bezier curve can reduce abrupt change and vibration of the robot in the motion process, improve the smoothness and continuity of motion, enhance the stability, and reduce friction and abrasion among mechanical parts, thereby prolonging the service life of equipment and reducing mechanical noise;
4. according to the invention, by acquiring the motion gesture data and adjusting the Bezier curve motion parameters in real time, the adaptability and flexibility of the robot are improved, the robot can avoid obstacles or follow a specific path, and the safety is enhanced.
Drawings
Fig. 1 is a schematic flow chart of a motion control method of a steering engine walking robot according to an embodiment of the application;
fig. 2 is a schematic structural diagram of a steering engine walking robot according to an embodiment of the present application;
fig. 3 is a schematic diagram of a bezier curve motion track generated by a target position A, B of a steering engine robot according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an intermediate target motion trajectory obtained from a generated Bezier curve according to an embodiment of the present application;
fig. 5 is a schematic diagram showing a comparison of a fitting effect of a bezier motion track and a median point motion track of a steering engine robot according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a running speed corresponding to a movement track of a median point according to an embodiment of the present application;
fig. 7 is a schematic flow chart of another method for controlling the motion of a steering engine walking robot according to an embodiment of the present application;
reference numerals:
steering engine-1, control system 2, truck-3, thigh-4, shank-5, sole-6.
Detailed Description
It should be noted that, without conflict, embodiments of the present application and features of the embodiments may be combined with each other. The terms first, second and the like in the description and in the claims and drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps S and elements not expressly listed or inherent to such process, method, article, or apparatus.
In order that those skilled in the art will better understand the present application, a more complete description of the same will be rendered by reference to the appended drawings, wherein it is to be understood that the embodiments are merely exemplary of some, but not all, of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application. The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.
Example 1
The embodiment of the application provides a motion control method of a steering engine walking robot, fig. 1 is a schematic flow diagram of the motion control method of the steering engine walking robot, and fig. 2 is a schematic structural diagram of the steering engine walking robot, as shown in fig. 1 and 2, according to the embodiment of the application, comprising the following steps:
s10, acquiring initial gesture data of a robot, wherein the initial gesture data comprise the current position and gesture of each steering engine, and the steering engine 1 is positioned at a leg joint of the robot;
specifically, the initial gesture data is position state data of an initial state of the robot, including the current position and gesture of each steering engine, and the steering engines 1 are located at leg joints of the robot. The initial posture data are acquired to enable the robot to know the initial state of the robot, and a basis is provided for the next motion control. Acquiring initial pose data is the first step in performing motion control, and these data provide the state of the robot before performing motion control, including the position and pose of the leg joints, in order to use these data for the next generation of a motion trajectory of the steering engine 1.
In one possible implementation, the current position and attitude data of each steering engine is preferably obtained by a built-in sensor of the robot, such as an encoder or a gyroscope; alternatively, the initial pose data may be read and processed by the control system 2 of the robot.
In the embodiment of the invention, a basis is provided for the next motion of the robot by acquiring the initial gesture data, so that the control system 2 accurately plans and adjusts the motion of the robot to move according to the expected track and gesture.
S20, acquiring a motion state change instruction, including the position, the motion mode and the motion speed of a target point of the robot;
specifically, the acquisition of the movement state change instruction involves acquiring instructions of the target point position, movement pattern, movement speed, and the like of the robot from the outside or from the robot control system 2, for guiding the robot to move from the current posture to the target position, and to move in accordance with the specified movement pattern and speed.
In order to enable the robot to move according to external instructions or own requirements, optionally, the instructions comprise target positions, movement modes and movement speeds, and definite directions and parameters are provided for the movement of the robot.
In one possible implementation, the movement state change instruction is optionally acquired by an external device such as a remote control or a computer, or by a built-in sensor and a computing unit of the robot; these instructions may include coordinates of the target location, the type of motion to be performed (e.g., straight line, curved line, etc.), and the desired speed of motion. The robot can move according to external instructions or own requirements by acquiring the motion state change instructions, and definite directions and parameters are provided for the motion of the robot, so that the robot can accurately execute preset actions.
In a preferred exemplary embodiment, the acquiring the movement state change instruction includes at least one of: an audio signal command, a visual signal command, and a balance force signal command.
In particular, acquiring a motion state change instruction is an important link for implementing motion control of a robot, and the motion state change instruction provides a mode and a means for controlling the motion state of the robot, so that the robot can adjust the motion state of the robot according to the requirement of a user or sensor data of the robot.
Optionally, the voice signal command identifies a specific voice pattern or voice signal by a voice recognition system, and converts the specific voice pattern or voice signal into a motion control command of the robot. For example, a user may instruct the robot to perform a particular motion by speaking a particular word or phrase.
Optionally, the visual signal instruction identifies a specific visual signal or image through a built-in camera or an external visual sensor of the robot, and converts the specific visual signal or image into a motion control instruction of the robot. For example, the user may instruct the robot to perform a particular motion by a gesture, a limb motion, or a particular marker.
Optionally, the balancing force signal instruction is converted into a motion control instruction of the robot according to the direction and the magnitude of the acting force by the built-in force sensor, and the robot can sense the external acting force. For example, a user may instruct the robot to perform a particular motion by touching or pushing the robot.
In the embodiment of the invention, the motion state of the robot is controlled in a plurality of modes by acquiring the motion state change instruction, so that a user can operate the robot more flexibly and conveniently in the use process, and the interactivity and the practicability of the robot are improved by using a plurality of sensing modes such as sound signals, visual signals, balance force signals and the like.
S30, generating Bezier curve motion parameters of each steering engine 1 according to the initial attitude data and the motion state change instruction, and fitting the motion trail of the steering engine 1;
In particular, in mechanical motion, bezier curves are often used to describe the motion profile of an object. The Bezier curve is a method for vector drawing, which changes the shape of the curve by adjusting the coordinates of control points, so that the shape of the Bezier curve can be flexibly adjusted as required. In addition, the bezier curve can exert a variety of effects. Firstly, the method can be used for generating complex motion tracks, and curves with different shapes can be generated by adjusting the coordinates of control points, so that the motion of different tracks is realized; secondly, the Bezier curve can also be used for path planning of the robot, after an initial path is obtained through a searching or sampling algorithm, the Bezier curve can be used for interpolating the initial path to obtain a smooth path, so that the movement of the robot is more stable and smooth.
In order to describe a smooth and continuous motion track, the motion of the robot is more natural and accurate, the robot can move according to the expected track and the expected gesture, and optionally, bezier curve motion parameters of each steering engine are generated according to initial gesture data and motion state change instructions.
In one possible implementation manner, the motion track of the steering engine 1 is described by calculating and generating the bezier curve motion parameter of each steering engine, including the control points, the weight coefficients between the control points, and the like, according to the initial gesture data and the motion state change instruction by using the control system 2 and the algorithm of the robot.
According to the embodiment of the invention, the Bezier curve motion parameters of each steering engine are generated according to the initial gesture data and the motion state change instruction, so that the motion track of the robot can be smoother and more accurate. In this way, the robot can avoid abrupt steering or acceleration when performing the movement, thereby improving the stability and accuracy of its movement.
S40, converting the Bezier curve motion parameters into steering engine control signals, and receiving and moving the steering engine 1 according to the steering engine control signals;
specifically, in order to convert the bezier curve motion parameters into control signals that can be identified by the steering engine 1, the steering engine 1 is guided to perform necessary actions so as to realize the expected motion trail.
Meanwhile, the Bezier curve motion parameters are converted into steering engine control signals so that the steering engine 1 can understand and execute corresponding motion instructions, and each steering engine receives and analyzes the control signals and then performs corresponding actions according to the signals.
In one possible implementation, the control system 2 and algorithm of the robot are used to convert the bezier curve motion parameters into control signals that can be identified by the steering engine 1, and these signals can be in the form of voltages, currents or other forms that can be identified by the steering engine 1, so as to guide the steering engine 1 to perform necessary actions. The steering engine 1 can accurately execute the preset action by converting the Bezier curve motion parameters into steering engine control signals, so that the robot can move according to the expected track and gesture. The method can make the movement of the robot more flexible and stable, thereby improving the practicability and performance of the robot.
In a preferred embodiment, generating the bezier curve motion parameter of each steering engine 1 according to the initial pose data and the motion state change instruction, wherein the step of fitting the motion track of the steering engine 1 includes:
at least one middle point is taken between two ends of a motion track line fitted by each steering engine, and the motion speed of the steering engine 1 passing through the middle point is higher than that of the steering engine passing through a non-middle point.
In particular, the present invention uses the concept of "median point" to describe one or more points between the two ends of the path of motion fitted by steering engine 1, which are used to smoothly transition the speed of motion of steering engine 1.
Since the smoothness and continuity of the motion of the robot are critical to the performance and safety thereof, in the bezier curve motion parameters of each steering engine generated according to the initial pose data and the motion state change instruction, the motion speed of the steering engine 1 when passing through the points is made greater than the motion speed when passing through the non-neutral points by setting the neutral points between the two ends of the trajectory line, thereby increasing the smoothness and continuity of the motion of the robot.
In one possible implementation manner, based on the initial gesture data and the motion state change instruction of the robot, generating Bezier curve motion parameters of each steering engine, where the parameters include control points, weight coefficients between the control points, and the like, for describing a motion track of the steering engine 1; then, at least one middle position point is found between the two ends of the motion track of each steering engine 1 described by the Bezier curve, the middle position points can be selected and set according to the requirements of actual application scenes, for example, the shape of the Bezier curve can be adjusted by increasing the number of control points, so that more middle position points are obtained; finally, the movement speed of the steering engine 1 through the middle points is adjusted, such as by controlling the rotation speed of a motor of the steering engine 1, changing the mechanical structure of the steering engine 1, and the like, for example, the voltage or current of the motor can be increased at the middle points, so that the movement speed of the steering engine 1 can be improved.
Specifically, as shown in fig. 3, a bezier curve motion trajectory schematic diagram generated by a target position A, B of a steering engine robot in the embodiment of the present invention is only analyzed for the steering engine 1, and the control methods of the other steering engines 1 are the same as the same, and the analysis is as follows:
setting a control point C, D, E through the current position A and the final target position B, setting the movement time T of the steering engine 1, and performing a De Casteljau algorithm) Generating a Bezier curve as shown in FIG. 3, wherein P (T) is the Bezier curve coordinates at any time within 0-T; n is the number of control points, pi is the set control point A, B, C, D, E; />Is a Bernstein polynomial (+)>) The method comprises the steps of carrying out a first treatment on the surface of the Wherein, any point on the curve is continuously conductive, i represents one of n accumulated items, n is the number of control points, i represents the sequence number of the represented control points from 0 to n, T represents any time point in the 0-T time period>To the power of i at any point in time t.
As shown in fig. 4, in the embodiment of the present invention, a median motion trajectory diagram obtained by an upper computer according to a generated bezier curve, where P1, P2, P3, and P4 are median points obtained by equally-spaced dotting on the bezier curve, and a connection line between adjacent median points is a median motion trajectory, and is calculated as follows: 、/>、、/>。
Fig. 5 is a schematic diagram showing the comparison of the fitting effect of the bezier motion trail and the median motion trail of the steering engine robot.
As shown in FIG. 6, the motion speed diagram corresponding to the movement track of the middle point in the steering engine robot steering engine 1 is obtained by differentiating the movement track of the middle point, namelyWherein->Is the position change quantity corresponding to the movement track of the middle point, < >>And v is the running speed, and is the time variation corresponding to the movement track of the middle point. When the steering engine 1 runs in sections A-P1 and P1-P2, the slope of the motion track is increased, the running speed of the steering engine 1 is increased, and the point P2 is the maximum running speed of the steering engine 1. When the steering engine 1 runs the tracks of sections P2-P3, the tracks tend to be straight lines, and the steering engine 1 runs at a constant speed. And after the operation is finished to the point P3, the operation speed of the steering engine 1 of the sections P3-P4 and P4-B is reduced until the operation speed is 0. So far, the steering engine 1 is finished moving.
Further, after analyzing and fitting the motion trail of each steering engine of the steering engine robot, the middle motion position corresponding to each steering engine is sent to the control system 2, and the control system 2 drives the corresponding steering engine 1 to move according to the middle position of each steering engine, so that the motion control of the whole steering engine robot is realized.
The motion control method of the steering engine walking robot solves the problems that the existing steering engine walking robot generates noise in the motion process of the steering engine walking robot, mechanical parts are worn greatly, the service life is short and the motion track is deviated due to the overshoot and the shake of the joint of the steering engine 1 in the motion process of the existing steering engine walking robot, and can enable the motion track of the robot to be smoother and continuous. The middle points are arranged between the two ends of the motion track described by the Bezier curve, and the motion speed of the steering engine 1 when passing through the points is higher than that when passing through the non-middle points, so that the mutation and the vibration of the robot in the motion process can be effectively reduced, the motion smoothness and the motion continuity of the robot are improved, the motion efficiency of the robot can be improved, and the stability and the comfort of the robot are also enhanced.
In a preferred embodiment, the bezier curve motion parameters include a start point, an end point, a curvature, an arc length, a rotation angle, a swing angle, and a motion speed.
Specifically, in the motion control of the steering engine walking robot, the motion parameters of each steering engine, including a start point, an end point, a curvature, an arc length, a rotation angle, a swing angle, a motion speed and the like, need to be precisely controlled so as to realize precise and smooth motion; due to the characteristics of the bezier curve, this requirement can be accommodated, and by appropriate algorithms and parameter settings, a curve describing this movement can be generated.
In one possible implementation manner, initial gesture data and a motion state change instruction of the robot are obtained first, and then, based on the data and the instruction, bezier curve motion parameters of each steering engine are generated by using a specific algorithm, including a starting point, an ending point, curvature, arc length, rotation angle, swing angle, motion speed and the like. These parameters are converted into control signals which can be recognized by the steering engine 1, and the control signals guide the steering engine 1 to perform corresponding actions. For example, the rotation angle or the swing angle of the steering engine 1 can be adjusted by changing the current or the voltage of the motor; by changing the duty ratio of the PWM (pulse width modulation) signal, the movement speed of the steering engine 1 and the like can be adjusted.
In the embodiment of the invention, the steering engine control signal generated by using the Bezier curve algorithm can realize precise and smooth motion control of the robot. The control mode not only can improve the movement efficiency of the robot, but also can enhance the stability and the comfort of the robot. For example, in a man-machine interaction scene, the control mode can enable the robot to act more naturally and humanizedly, and improve user experience; in an unmanned scene, the control mode can enable the robot to act more stably and safely, and the running efficiency is improved.
In a preferred embodiment, the method further comprises the steps of:
s50, acquiring motion attitude data of the robot, adjusting Bezier curve motion parameters according to the motion attitude data, and correcting the motion trail of the robot according to the adjusted motion parameters. Fig. 7 is a schematic flow chart of another motion control method of a steering engine walking robot according to an embodiment of the present invention, as shown in fig. 7.
Specifically, motion gesture data of the robot is obtained, including information such as real-time position, gesture, speed and the like of the robot in the motion process, and the data can be obtained through various sensors such as cameras, radars, accelerometers and the like.
The reason why the motion gesture data is acquired is that we need to know the state of the robot in the motion process in real time so as to adjust the motion trail of the robot when needed. For example, if the robot deviates from a predetermined trajectory or encounters an obstacle to avoid, the motion gesture data needs to be acquired and processed in real time, and the bezier curve motion parameters are adjusted, so that the motion trajectory of the robot is corrected.
In the implementation process, a proper sensor is required to be installed and configured to acquire motion gesture data. For example, one 3D lidar, or a plurality of cameras and Inertial Measurement Units (IMUs), etc. may be mounted. These sensors are then connected to the control system 2 of the robot via a hardware interface so that the robot can acquire its motion profile data in real time.
The control system 2 then receives these motion profile data and adjusts the Bezier curve motion parameters based on these data. For example, if the robot deviates from a predetermined trajectory, the control system 2 may correct the motion trajectory of the robot by adjusting the bezier curve motion parameters. This process may be implemented by preset algorithms and mathematical models, such as Extended Kalman Filter (EKF) algorithms for data analysis and prediction.
In the embodiment of the invention, the adaptability and the flexibility of the robot can be greatly improved by acquiring the motion gesture data and adjusting the Bezier curve motion parameters in real time. For example, when the robot encounters an obstacle, it can adjust its own motion trajectory in real time to avoid the obstacle; when the robot needs to follow a specific path, it can adjust its own path in real time to match a preset path. The technical effect of the method not only can improve the movement efficiency of the robot, but also can enhance the safety and the comfort of the robot.
Therefore, compared with the prior art, the motion control method of the steering engine walking robot has at least the following technical effects: by acquiring initial attitude data and a motion state change instruction, a basis and a definite direction can be provided for the motion of the robot, and the stability and the precision of the motion are improved; by generating Bezier curve motion parameters of each steering engine, the motion track of the robot is smoother and more accurate, abrupt steering or acceleration is avoided, stability is improved, friction and abrasion among mechanical parts can be reduced, the service life of equipment is prolonged, and mechanical noise is reduced; by arranging a middle locus and other methods between two ends of a motion track described by a Bezier curve, mutation and oscillation of a robot in the motion process can be reduced, the smoothness and continuity of motion are improved, and the stability is enhanced; by acquiring the motion gesture data and adjusting the Bezier curve motion parameters in real time, the adaptability and the flexibility of the robot are improved, the robot can avoid obstacles or follow a specific path, and the safety is enhanced.
Example two
On the basis of the first embodiment, the embodiment of the invention also provides a steering engine walking robot, and provides a principle structure schematic diagram of the steering engine walking robot, as shown in fig. 2, comprising:
the robot comprises a robot main body, a control system 2 and a steering engine system;
the robot main body comprises a trunk 3 and at least two legs, wherein the upper ends of the legs are connected with the bottom of the trunk 3 through steering engines 1 and used for supporting the trunk 3 and keeping the gravity center of the trunk 3 balanced, the legs respectively comprise thighs 4, calves 5 and soles 6, and the thighs 4, the calves 5 and the soles 6 are sequentially connected in series through the steering engines;
the control system 2 and the steering engine system are respectively arranged in the robot main body and are connected with each other, and the control system 2 is used for acquiring initial attitude data and motion state change instructions, generating Bezier curve motion parameters and sending the Bezier curve motion parameters to the steering engine system; the control system 2 comprises a middle point setting module, wherein the middle point setting module is used for taking at least one middle point between two ends of the motion track line and setting the motion speed of the steering engine 1 according to a preset mode;
the steering engine system comprises a plurality of steering engines 1 which are respectively arranged at joints among thighs 4, calves 5 and soles 6 and used for driving the thighs 4, calves 5 and soles 6 to perform Bezier curve motion.
Specifically, the steering engine walking robot is a robot using a steering engine 1 as a driving device, and the robot uses the steering engine 1 at the parts of a trunk 3, thighs 4, calves 5, soles 6 and the like, and realizes accurate control of the robot through a control system 2 and a steering engine system.
The control system 2 of the robot is composed of a plurality of hardware and software components and is used for acquiring initial gesture data and motion state change instructions, generating Bezier curve motion parameters and sending the parameters to a steering engine system. The control system 2 further comprises a middle point setting module, which is used for setting one or more middle points between two ends of a line segment describing the motion trail and adjusting the motion speed of the steering engine 1 according to a preset mode.
The steering engine system of the robot consists of a plurality of steering engines 1, and is respectively arranged at joints of thighs 4, calves 5 and soles 6 and used for driving the thighs 4, calves 5 and soles 6 to perform Bezier curve motion.
In the embodiment of the invention, the steering engines 1 are connected in series and used as the driving device, and the steering engines 1 have the advantages of higher control precision and response speed, and can realize rapid and accurate position and gesture control of the robot. Meanwhile, the control system 2 and the steering engine system are matched, so that the control of the complex motion trail of the robot can be realized, and the adaptability and the flexibility of the robot are improved.
In one possible implementation, the control system 2 of the robot preferably acquires initial pose data, including the current position and pose of each steering engine, via built-in sensors. When an external instruction or a demand of the control system 2 is received, bezier curve motion parameters are generated according to the acquired attitude data and other information, and the parameters are sent to a steering engine system.
In the implementation process, the middle point setting module in the control system 2 sets one or more middle points between two ends of the calculated motion track line segment, and adjusts the motion speed of the steering engine 1 according to a preset mode. For example, when the robot needs to avoid an obstacle or change the traveling direction, the control system 2 adjusts the movement speed of each steering engine 1 through the middle point setting module, so that the movement track of the robot is smoother and more continuous.
In the embodiment of the invention, by using the method that the control system 2 and the steering engine system are matched with each other, the robot can realize accurate and smooth motion control. For example, in a man-machine interaction scene, the control mode can enable the robot to act more naturally and humanizedly, and improve user experience; in an unmanned scene, the control mode can enable the robot to act more stably and safely, and the running efficiency is improved. In addition, the adaptability and the flexibility of the robot can be improved by setting the middle position point and adjusting the movement speed of the steering engine 1, so that the robot can be better adapted to different environments and use scenes.
In a preferred embodiment, the control system 2 comprises a computer module, a sensor module and a drive module; the computer module is used for receiving the initial gesture data and the motion state change instruction and generating Bezier curve motion parameters; the sensor module is connected with the computer module and is used for monitoring the position of the steering engine 1 and the movement gesture of the robot in real time and feeding back the position and the movement gesture to the computer module; the driving module is connected with the computer module and used for transmitting Bezier curve motion parameters generated by the computer module to the steering engine system.
Specifically, the control system 2 is a component in the robot, and comprises a computer module, a sensor module and a driving module, and is used for acquiring initial gesture data and motion state change instructions, generating Bezier curve motion parameters, and sending the parameters to the steering engine system.
Wherein, the core part of the control system 2 receives the initial gesture data and the motion state change instruction and generates Bezier curve motion parameters according to the information; the sensor module is connected with the computer module and is used for monitoring the position of the steering engine 1 and the motion gesture of the robot in real time and feeding back the information to the computer module; the driving module is connected with the computer module and used for transmitting Bezier curve motion parameters generated by the computer module to the steering engine system.
The computer module in the control system 2 is used for processing various data, including initial posture data and motion state change instructions, and generating Bezier curve motion parameters. The existence of the sensor module enables the robot to know own state information, such as the position of the steering engine 1 and the movement gesture of the robot, in real time. This information is critical to adjusting the motion trajectories and poses of the robot. The driving module is responsible for transmitting the Bezier curve motion parameters generated by the computer module to the steering engine system, so that the robot can be accurately controlled.
In one possible implementation, the control system 2 first receives initial pose data or motion state change instructions, which may come from user input, sensor detection, or other robot interactions. First, the computer module generates Bezier curve motion parameters from the received data, which describe how the robot should move to reach a new position or pose; secondly, the sensor module continuously monitors the position of the steering engine 1 and the motion gesture of the robot and feeds back the information to the computer module, and the data can help the computer module to know the real-time state of the robot so that the computer module can more accurately adjust the Bezier curve motion parameters; finally, the driving module converts the Bezier curve motion parameters generated by the computer module into signals, the signals are transmitted to the steering engine system, and the steering engine system adjusts the motion of each steering engine according to the signals, so that the robot can move according to the expected track and gesture.
By this design, the control system 2 may improve the flexibility and adaptability of the robot. For example, when the robot encounters an obstacle, the control system 2 may direct the robot to bypass the obstacle by adjusting the bezier curve motion parameters. Meanwhile, by using the sensor module, the robot can know the state of the robot in real time, which is helpful for improving the safety of the robot. The existence of the driving module enables the robot to accurately execute various actions, and stability and accuracy of the robot are improved. Overall, this design may improve the performance of the robot and enhance the user experience.
In a preferred embodiment, the steering engine system comprises a steering engine 1, a transmission and an encoder; the steering engine 1 moves according to the Bezier curve movement parameters; the speed changer is connected with the steering engine 1 and is used for adjusting the movement speed and/or direction of the steering engine 1; the encoder is connected with the steering engine 1 and is used for monitoring the motion gesture of the steering engine 1 and feeding back gesture information to the control system 2.
Specifically, the steering engine system is a system composed of a steering engine 1, a transmission and an encoder, and is used for receiving Bezier curve motion parameters sent from a control system 2 and driving thighs 4, calves 5 and soles 6 to perform corresponding Bezier curve motion.
The steering engine 1 is arranged at joints of the thigh 4, the shank 5 and the sole 6 and is used for receiving instructions of the control system 2 and driving the legs of the robot to perform various movements according to the instructions.
Wherein, the derailleur: the device is connected with the steering engine 1 and is used for adjusting the movement speed and/or direction of the steering engine 1 so as to adapt to the requirements of different actions of the robot.
The device that encoder and steering wheel 1 are connected is used for real-time supervision steering wheel 1's motion gesture and feeds back gesture information to control system 2, helps control system 2 to realize the accurate control to the robot motion.
The steering engine system is an important component of the robot and is used for receiving instructions from the control system 2 and driving the robot to execute various actions. The steering engine 1 is a key device for executing actions, the speed changer can adjust the movement speed and/or direction of the steering engine 1 according to requirements, and the encoder is used for monitoring the movement gesture of the steering engine 1 in real time and feeding information back to the control system 2, so that the movement precision and stability of the robot are improved.
In the specific implementation process, the control system 2 generates Bezier curve motion parameters according to the acquired initial attitude data and motion state change instructions, and sends the parameters to a steering engine system; after receiving these parameters, the steering engine system starts to work. Each steering engine carries out corresponding actions according to the received Bezier curve motion parameters, and the actions are regulated by the speed changer, so that the actions of the robot are more accurate and stable. Meanwhile, the encoder monitors the motion gesture of each steering engine in real time, gesture information is fed back to the control system 2, and the control system 2 adjusts the motion parameters of the steering engine 1 according to the gesture information, so that accurate control of the robot is realized.
The steering engine walking robot provided by the embodiment of the invention adopts the steering engine system comprising the steering engine 1, the speed changer and the encoder, so that the action precision and stability of the robot are improved. Meanwhile, the motion speed and/or the direction of the steering engine 1 are/is adjusted through the speed changer, so that the action of the robot can be more flexible and stable. The use of the encoder enables the control system 2 to acquire the motion gesture information of the robot in real time, and adjusts the motion of the robot according to the information, so that the adaptability of the robot is improved.
In a preferred embodiment, a balancing system is also included, which is connected to the control system 2 for receiving instructions from the control system 2 and adjusting the balancing system of the robot.
Preferably, the balancing system comprises a gravity sensor and an adjusting mechanism, wherein the gravity sensor is used for monitoring the gravity distribution of the robot, and the adjusting mechanism is used for carrying out posture adjustment according to the monitoring result of the gravity sensor
The balancing system mainly comprises a gravity sensor and an adjusting mechanism and is used for helping the robot to sense self gravity distribution and adjust the self gravity distribution so as to keep or restore balance.
The gravity sensor is a sensor and is used for sensing and measuring the gravity distribution of the robot and feeding information back to the control system 2 and the adjusting mechanism.
The adjusting mechanism is an executing mechanism and is used for adjusting the gesture of the robot in real time according to feedback information of the gravity sensor so as to keep or restore balance.
In order to improve the stability and the adaptability of the robot, the robot further comprises a balancing system, wherein the balancing system can enable the robot to keep balance by adjusting the posture of the robot under different gravity distribution and external interference, so that the stability and the adaptability of the robot are improved.
In the implementation process, the control system 2 is not only responsible for acquiring initial attitude data and motion state change instructions and generating Bezier curve motion parameters, but also responsible for receiving and processing feedback information of the gravity sensor. Through the information, the control system 2 can judge the gravity distribution and the gesture of the robot, so as to adjust the motion parameters of the steering engine 1 and/or send instructions to an adjusting mechanism for adjustment. The adjusting mechanism adjusts the balance of the robot by changing the gravity center or the gesture of the robot according to the instruction of the control system 2 and the feedback information of the gravity sensor. For example, if the robot is tilted to the left, the adjustment mechanism may shift the center of gravity of the robot to the right to restore balance.
According to the embodiment of the invention, the stability and the adaptability of the robot are obviously improved by adding the balance system. Whether walking on flat ground or moving on rough hills or stairs, the robot can be kept stable by its own balancing system. In addition, even in the case of external disturbance such as sudden wind blowing, collision, etc., the robot can quickly restore balance through its own balance system. This not only improves the performance of the robot, but also enhances the user experience.
In a preferred embodiment, the steering engine walking robot further comprises: an upper computer; is connected with the control system and is used for sending instructions to the control system 2.
Specifically, the upper computer is a device or program that can send a motion state change instruction to the control system 2. It may exist independently of the control system 2 or may be integrated in the control system 2.
In order to be able to remotely control or dynamically change the movement state of the robot according to the external environment, the robot further comprises: and an upper computer. The upper computer can receive external input or send a motion state change instruction to the control system 2 according to preset logic, so that the robot can be more intelligently adapted to external environment.
In the implementation process, the upper computer can be an independent hardware device or a software program running in a computer or an embedded system. It is connected to the control system 2 by some communication means (for example, wireless communication, wired communication, etc.), and is capable of transmitting a movement state change instruction to the control system 2 in real time.
For example, in a preferred exemplary embodiment, the host computer may be a program running on a personal computer or an embedded device, which sends instructions to the control system 2 via a wireless network; after receiving the instructions, the control system 2 processes the instructions according to preset logic, and then adjusts the motion parameters of the steering engine 1 to change the motion state of the robot.
In the embodiment of the invention, the functions of the robot are enhanced by adding the upper computer. The user can check the motion state of the robot in real time through the upper computer, and can also send a motion state changing instruction to the control system 2 according to the requirement, so that the robot can dynamically adjust the motion state of the robot according to the change of the external environment. This not only improves the adaptability of the robot, but also enhances the flexibility and convenience of the operator.
Preferably, each steering engine 1 is mounted on a bus, and the control system 2 sends a motion state changing instruction to the steering engine 1 through the bus.
Therefore, compared with the prior art, the motion control method of the steering engine walking robot has at least the following technical effects: by acquiring initial attitude data and a motion state change instruction, a basis and a definite direction can be provided for the motion of the robot, and the stability and the precision of the motion are improved; by generating Bezier curve motion parameters of each steering engine, the motion track of the robot is smoother and more accurate, abrupt steering or acceleration is avoided, stability is improved, friction and abrasion among mechanical parts can be reduced, the service life of equipment is prolonged, and mechanical noise is reduced; by arranging a middle locus and other methods between two ends of a motion track described by a Bezier curve, mutation and oscillation of a robot in the motion process can be reduced, the smoothness and continuity of motion are improved, and the stability is enhanced; by acquiring the motion gesture data and adjusting the Bezier curve motion parameters in real time, the adaptability and the flexibility of the robot are improved, the robot can avoid obstacles or follow a specific path, and the safety is enhanced.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the descriptions and drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the invention.
Claims (10)
1. The motion control method of the steering engine walking robot is characterized by comprising the following steps of:
acquiring initial attitude data of a robot, wherein the initial attitude data comprise the current position and the attitude of each steering engine, and the steering engines are positioned at leg joints of the robot;
acquiring a motion state change instruction, wherein the motion state change instruction comprises the target point position, a motion mode and a motion speed of the robot;
generating Bezier curve motion parameters of each steering engine according to the initial attitude data and the motion state change instruction, and fitting the motion trail of the steering engine;
and converting the Bezier curve motion parameters into steering engine control signals, and receiving and moving according to the steering engine control signals by the steering engine.
2. The motion control method of a steering engine walking robot of claim 1, wherein generating a bezier curve motion parameter of each steering engine according to the initial pose data and the motion state change instruction, for fitting a motion trajectory of the steering engine, comprises:
And taking at least one middle locus between two ends of a motion track line fitted by each steering engine, and enabling the motion speed of the steering engine passing through the middle locus to be greater than the motion speed of the steering engine passing through non-middle locus.
3. The motion control method of a steering engine walking robot according to claim 1 or 2, wherein the bezier curve motion parameters include a start point, an end point, a curvature, an arc length, a rotation angle, a swing angle, and a motion speed.
4. The method for controlling the motion of a steering engine walking robot according to claim 2, further comprising the steps of, after the steering engine receives and performs the moving step according to the steering engine control signal:
and acquiring the motion gesture data of the robot, adjusting Bezier curve motion parameters according to the motion gesture data, and correcting the motion trail of the robot according to the adjusted motion parameters.
5. A steering engine walking robot that performs the steps of the method for controlling the motion of the steering engine walking robot according to any one of claims 1 to 4, comprising: the robot comprises a robot main body, a control system and a steering engine system;
the robot comprises a robot body and at least two legs, wherein the upper ends of the legs are connected with the bottom of the robot body through steering gears and used for supporting the robot body and keeping the gravity center of the robot body balanced, the legs respectively comprise thighs, shanks and soles, and the thighs, the shanks and the soles are sequentially connected in series through the steering gears;
The control system and the steering engine system are respectively arranged in the robot main body and are connected with each other, and the control system is used for acquiring initial attitude data and a motion state change instruction, generating Bezier curve motion parameters and sending the Bezier curve motion parameters to the steering engine system; the control system comprises a middle position point setting module, wherein the middle position point setting module is used for taking at least one middle position point between two ends of a motion track line and setting the motion speed of the steering engine according to a preset mode;
the steering engine system comprises a plurality of steering engines which are respectively arranged at joints among thighs, calves and soles and used for driving the thighs, calves and soles to perform Bezier curve motion.
6. The steering engine walking robot of claim 5, wherein said control system comprises a computer module, a sensor module, and a drive module;
the computer module is used for receiving the initial gesture data and the motion state change instruction and generating Bezier curve motion parameters; the sensor module is connected with the computer module and is used for monitoring the position of the steering engine and the movement gesture of the robot in real time and feeding back the position and the movement gesture to the computer module; the driving module is connected with the computer module and used for transmitting Bezier curve motion parameters generated by the computer module to the steering engine system.
7. The steering engine walking robot of claim 5, wherein the steering engine system comprises a steering engine, a transmission, and an encoder;
the steering engine moves according to the Bezier curve movement parameters; the speed changer is connected with the steering engine and is used for adjusting the movement speed and/or direction of the steering engine; the encoder is connected with the steering engine and used for monitoring the motion gesture of the steering engine and feeding back gesture information to the control system.
8. The steering engine walking robot of claim 5, further comprising a balancing system coupled to the control system for receiving instructions from the control system and adjusting the balancing system of the robot.
9. The steering engine walking robot of claim 8, wherein the balancing system comprises a gravity sensor for monitoring the gravity distribution of the robot and an adjusting mechanism for performing posture adjustment according to the monitoring result of the gravity sensor.
10. The steering engine walking robot of claim 5, further comprising: an upper computer; and the control system is connected with the controller and is used for sending instructions to the controller.
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