WO2020238331A1 - 一种适用于非结构化环境下进行物理交互的轮式机器人 - Google Patents

一种适用于非结构化环境下进行物理交互的轮式机器人 Download PDF

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Publication number
WO2020238331A1
WO2020238331A1 PCT/CN2020/079396 CN2020079396W WO2020238331A1 WO 2020238331 A1 WO2020238331 A1 WO 2020238331A1 CN 2020079396 W CN2020079396 W CN 2020079396W WO 2020238331 A1 WO2020238331 A1 WO 2020238331A1
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nodes
node
connecting rod
wheeled robot
basic unit
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English (en)
French (fr)
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宋超阳
万芳
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Southern University of Science and Technology
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Southern University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels

Definitions

  • the invention relates to the technical field of robot design, in particular to a wheeled robot suitable for physical interaction in an unstructured environment.
  • robots with high environmental adaptability can use a single structure or only a few changes to achieve various complex functions in a wider range of application scenarios, especially in unstructured environments. This is one of the robots’ adaptability. Important manifestation.
  • Adaptive mobile robots need It can move efficiently in different terrains (such as high and low ups and downs, rugged and unequal) and different environments (such as land, swamp, sand, underwater, etc.).
  • the present invention provides a wheeled robot suitable for physical interaction in an unstructured environment.
  • the invention discloses a wheeled robot suitable for physical interaction in an unstructured environment, comprising: a wheeled robot body and a wheel structure, the wheel structure being installed on the wheeled robot body;
  • the network structure of the wheel structure adopts a spatial three-dimensional network structure, and the spatial three-dimensional network structure is based on the positions of nodes and adopts connecting rods for orderly combination in space.
  • the spatial three-dimensional network structure is a first basic unit, a second basic unit, a superposition of a first basic unit and a plurality of second basic units, or a superposition of a plurality of second basic units ;among them:
  • the first basic unit includes a first upper structure and a first lower structure, the first upper structure includes a first node, the first lower structure includes at least three second nodes, and at least three
  • the second node is not collinear; the first node and all the second nodes form a three-dimensional network structure through connecting rods, and the connecting rods are connected between the two second nodes or the first node and the second node Between nodes
  • the second basic unit includes a second upper structure and a second lower structure, the second upper structure includes at least two third nodes, the second lower structure includes at least two fourth nodes, and at least two The fourth node is not coplanar with at least two of the third nodes; all the third nodes and all the fourth nodes form a three-dimensional network structure by connecting rods, and the connecting rods are connected to the two third nodes Between the two fourth nodes, or between the third node and the fourth node.
  • the connecting rod is a hollow flexible rod.
  • any one of the second nodes and the closest second node are connected by the connecting rod;
  • the first node and one or more second nodes are connected by the connecting rod.
  • any one of the second nodes and one or more second nodes that are not connected to it are connected by the connecting rod;
  • the first node and one or more second nodes not connected therewith are connected by the connecting rod.
  • any of the third nodes and the third node closest to it are connected by the connecting rod;
  • one or more of the third nodes and one or more of the fourth nodes are connected by the connecting rod.
  • any one of the third nodes and one or more third nodes that are not connected to it are connected by the connecting rod;
  • any one of the fourth nodes and one or more fourth nodes that are not connected thereto are connected by the connecting rod;
  • Any one of the third nodes and one or more unconnected fourth nodes are connected by the connecting rod.
  • the present invention also includes: a sensing system
  • the sensing system includes: a light source device, a photosensitive device, and an optical signal processor, and the light source device, the photosensitive device and the optical signal processor are installed on the wheeled robot body;
  • the light emitted by the light source device enters the hollow channel of the connecting rod through the light path entrance, and is transmitted to the photosensitive device through the light path exit;
  • the optical signal processor processes the optical signals of the light source device and the photosensitive device, and converts them into the deformation signal of the wheel structure to realize the sensing function.
  • a single or multiple optical fiber circuits are embedded in the hollow channel of the connecting rod;
  • the light emitted by the light source device enters the optical fiber loop through the light path entrance, and is transmitted to the photosensitive device through the light path exit;
  • the optical signal processor processes the optical signals of the light source device and the photosensitive device, and converts them into the deformation signal of the wheel structure to realize the sensing function.
  • the wheel structure of the wheeled robot of the present invention adopts a spatial three-dimensional network structure.
  • the spatial three-dimensional network structure is based on the position of nodes and uses connecting rods for orderly combination in space; when the wheeled robot passes through complex terrain, the wheel structure is connected The rod undergoes recessed deformation in the space to generate adaptability to the geometric structure of the external environment, so that the wheel structure of the wheeled robot realizes physical interaction in an unstructured environment;
  • the present invention can directly use the hollow structure of the wheel structure connecting rod as the optical path or embed single or multiple optical fiber loops, and detect the physical deformation of the connecting rod by measuring the change in the amount of light through the optical signal processor, thereby
  • the wheel structure of the wheeled robot realizes the physical perception of the unstructured environment during interaction.
  • Figure 1 is a schematic structural diagram of a wheeled robot disclosed in an embodiment of the present invention.
  • Figure 2 is a schematic structural diagram of a first basic unit disclosed in an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a second basic unit disclosed in an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a network structure of a wheel structure disclosed in an embodiment of the present invention.
  • Figure 5 is a schematic diagram of a network structure of a wheel structure disclosed in another embodiment of the present invention.
  • Figure 6 is a side cross-sectional view of a sensor system disclosed in an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of adaptive deformation of an article X before and after contact with a first basic unit according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of the first basic unit in FIG. 7 after adaptive adjustment of the article X;
  • FIG. 9 is a schematic diagram of adaptive deformation of an article X before and after contact with a first basic unit according to another embodiment of the present invention.
  • FIG. 10 is a schematic diagram of adaptive deformation of an article X after contact with a wheel structure according to an embodiment of the present invention.
  • connection should be understood in a broad sense, unless otherwise clearly defined and limited.
  • they may be fixed connections or alternatively.
  • Detachable connection, or integral connection it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • connection should be understood in specific situations.
  • the present invention provides a wheeled robot suitable for physical interaction in an unstructured environment, including: a wheeled robot body A and a wheel structure B.
  • the wheel structure B is mounted on the wheeled robot body A.
  • the network structure of the wheel structure B of the present invention is a first basic unit, a second basic unit, a superposition of a first basic unit and a plurality of second basic units, or a superposition of a plurality of second basic units;
  • One of the above forms can be selected according to actual needs.
  • the first basic unit of the present invention includes a first upper structure and a first lower structure
  • the first upper structure includes a first node (A) 1; the first lower structure includes at least three non-collinear second nodes 2, and the non-collinear second nodes 2 ensure that the first node 1 and the second node 2
  • the connection formed is a spatial three-dimensional network structure, not a flat network structure;
  • the first node 1 and all the second nodes 2 form a three-dimensional network structure through connecting rods 5.
  • the connecting rods 5 are hollow flexible rods (that is, elastic or superelastic materials with high Young's modulus and deformation ratio), which can also be used to meet requirements For other solid rods, preferably a hollow flexible rod; when a solid rod is selected, a channel for the light path can be provided on the solid rod; the connecting rod 5 is connected between the two second nodes 2 or the first node 1 and the first node Between two nodes 2.
  • all the nodes (including the first node and the second node) of the present invention are connected as a whole, and the specific connection mode of the first node 1 and the second node 2 is not limited.
  • the specific connection between the first node 1 and the second node 2 is not limited.
  • the connection method can be designed according to different needs.
  • the present invention shows that the lower layer is 3 second nodes (a/b), 4 second nodes (a/b/c), and n second nodes (a/b/c/... /n)
  • the first basic unit structure where:
  • the first node in the upper structure, if there is only one node in the layer, there is no link connection in the layer; in the lower structure, any second node is usually connected to the second node closest to it. Rod connection.
  • the first node is usually connected with one or more second nodes by connecting rods.
  • any second node and one or more second nodes that are not connected to it are connected by connecting rods; in the upper and lower two-layer structure, The first node and one or more second nodes that are not connected to it are connected by connecting rods.
  • the second basic unit of the present invention includes a second upper structure and a second lower structure
  • the second upper structure includes at least two third nodes 3;
  • the second lower structure includes at least two fourth nodes 4, and at least two fourth nodes 4 and at least two third nodes 3 are not coplanar;
  • All third nodes 3 and all fourth nodes 4 form a three-dimensional network structure through connecting rods 5.
  • the connecting rods 5 are hollow flexible rods, and the connecting rods 5 are connected between two third nodes 3, two fourth nodes 4 or Between the third node 3 and the fourth node 4.
  • all the nodes (including the third node and the fourth node) of the present invention are connected as a whole, and the specific connection mode of the third node 3 and the fourth node 4 is not limited.
  • the specific connection between the third node 3 and the fourth node 4 The connection method can be designed according to different needs.
  • any third node and the third node closest to it are connected by a connecting rod; in the lower structure, any fourth node and the fourth node closest to it are connected by connecting rods.
  • Rod connection In the upper and lower two-layer structure, based on the principle of proximity, one or more third nodes and one or more fourth nodes are connected by connecting rods.
  • any third node and one or more third nodes that are not connected to it are connected by a link; in the lower structure, any The fourth node and one or more fourth nodes that are not connected to it are connected by a link; in the upper and lower two-layer structure, any third node and one or more fourth nodes that are not connected to it are connected by a link .
  • this type of basic structural unit can also be regarded as a special case of the aforementioned basic structural unit, that is, between two basic units with the same lower node configuration but different single upper node configuration. combination.
  • the structure can be simplified by connecting the single upper node of the two basic units while removing other links that are connected to the upper node but with longer lengths to avoid the staggered structure of the links.
  • the present invention shows that the upper layer has 2 third nodes (A/B), the lower layer has 2 fourth nodes (a/b), and the upper layer has 2 third nodes (A/B),
  • the lower layer has 3 fourth nodes (a/b/c), the upper layer has 2 third nodes (A/B), the lower layer has 4 fourth nodes (a/b/c/d), and the upper layer has 3 Three nodes (A/B/C), the lower layer is 3 fourth nodes (a/b/c), the upper layer is 4 third nodes (A/B/C/D), and the lower layer is 4 fourth nodes ( a/b/c/d) the second basic unit structure;
  • the ABab configuration is in the form of four sides.
  • the [double-trilateral-double-quadrilateral] ABabc configuration can be equivalent to a composite structural unit formed by two [tetrahedral] basic structural units Aabc and Babc through the superposition of the lower abc, and then The upper two nodes A and B are connected. Since the distance between A and a and b is relatively close, and the distance between B and c is only relatively short, it can be completed by removing the three connecting rods Ac, Ba and Bb The structure is simplified to avoid the structure of staggered connecting rods. Similar to the aforementioned analysis, it can be known that the basic structural unit can achieve the effect of adaptive wrapping and motion stabilization of the external environment taking the article X as an example.
  • the [single four-sided four-three-sided] ABabc configuration can be equivalent to a composite structure unit formed by two [tetrahedral] basic structural units Aabc and Babc through the superposition of the lower abc.
  • the spatial distance between Ac and Bc is basically the same, and the spatial distance between Aa and Bb is also basically the same.
  • the structure can be simplified by removing Ab and Ba to avoid the structure of interlacing connecting rods.
  • This configuration can also be regarded as a Taking c as the first layer and ABba as the second layer of the pyramid-shaped basic structural unit, similar to the foregoing analysis, it can be known that the basic structural unit can achieve adaptive coverage and motion stabilization effects for the external environment taking item X as an example.
  • the [three-four-sided double-trilateral] ABabcd configuration can be equivalent to two [pyramid] basic structural units Aabcd and Babcd form a composite structural unit through the superposition of the lower abcd, but
  • the spatial distance between Aa and Ab is basically the same, and the spatial distance between Bc and Bd is also basically the same.
  • the structure can be simplified by removing Ac, Ad, Ba, and Bb to avoid the staggered structure of the connecting rods.
  • the analysis similar to the above shows that The basic structural unit can realize the adaptive covering and motion stabilization effect of the external environment taking the article X as an example.
  • the ABCDabcd configuration is shown in the [double-layer quadrilateral], and the upper and lower layers respectively contain four connection nodes.
  • the network structure of the wheel structure designed by the present invention can be combined and stacked by using one first basic unit and multiple second basic units.
  • the basic structure unit of each layer can carry out corresponding concave deformation to the geometric dimensions of the different positions of the article X, through the superposition of the self-adaptability of each basic structure and the motion stabilization effect, including the self-adaptation of the network structure through torsional deformation
  • the effect of sexual wrapping and motion stabilization comprehensively improves the adaptive wrapping and motion stabilization effects of the overall spatial network structure to the external environment.
  • a prominent feature of the spatial network structure of the wheel structure involved in the present invention is that when the wheeled robot passes by In complex terrain, the wheel structure can realize geometric structure adaptation to the external environment and stable motion from any lateral angle:
  • the [multi-layer tetrahedral] structure consists of the basic structural unit of the top [tetrahedron] and multiple basic structural units of the double-layer [trilateral] at the bottom;
  • the [Multilayer Pyramid] structure It consists of a [pyramid] basic structural unit on the top layer and multiple [quadrangular] basic structural units on the bottom;
  • each connecting rod can be a general straight line or a complex curve with a special design, and the cross-sectional shape of each connecting rod can be round or square. Or any other cross-sectional shape.
  • each connecting rod is made of a material with a certain elasticity, that is, it can produce elastic deformation that can be detected under the action of external force.
  • Any connecting rod can adopt a hollow structure inside. By detecting the amount of light inside the rod, the rod can be aligned. Perception of elastic deformation of pieces.
  • the way to realize the connection between the links at the connection node can be a general structural fixed connection (no degree of freedom, that is, no relative freedom of movement between the links), and hinge connection (a degree of freedom is
  • the connecting rods have a relative rotation degree of freedom of movement), spherical hinge connection (three degrees of freedom, that is, there are two relative rotations between the connecting rods and one degree of freedom of movement around the axis) and other connection methods.
  • the spatial network structure of the wheel structure designed by the present invention can be combined and stacked by using multiple second basic structures.
  • the geometric dimensions of different positions undergo corresponding recessed deformations, and the self-adaptability and motion stabilization effects of each layer of the basic structure are superimposed, including the adaptive wrapping and motion stabilization effects generated by the torsional deformation of the network structure, which comprehensively improves the overall space
  • the network structure adapts to the external environment and has the effect of stabilizing motion.
  • a distinctive feature of the spatial network structure of the wheel structure involved in the present invention is that it can achieve geometric structure adaptation and motion to the external environment from any lateral angle. stable:
  • [a multi-layer composite] structure It consists of a basic structural unit of [single four-sided three-sided] on the top layer and multiple basic structural units of a double-layer [trilateral] on the bottom;
  • FIG. 5b another multi-layer composite] structure: It consists of a basic structure unit of the top [three-four-sided double-trilateral] and multiple double-layer [quadrilateral] basic structural units at the bottom;
  • each connecting rod can be a general straight line or a complex curve with a special design, and the cross-sectional shape of each connecting rod can be round or square. Or any other cross-sectional shape.
  • each connecting rod is made of a material with a certain elasticity, that is, it can produce elastic deformation that can be detected under the action of external force.
  • Any connecting rod can adopt a hollow structure inside. By detecting the amount of light inside the rod, the rod can be aligned. Perception of elastic deformation of pieces.
  • the way to realize the connection between the links at the connection node can be a general structural fixed connection (no degree of freedom, that is, no relative freedom of movement between the links), and hinge connection (a degree of freedom is
  • the connecting rods have a relative rotation degree of freedom of movement), spherical hinge connection (three degrees of freedom, that is, there are two relative rotations between the connecting rods and one degree of freedom of movement around the axis) and other connection methods.
  • the present invention can adopt a flexible rod with an internal optical path (that is, an elastic or superelastic material with a higher Young's modulus and deformation ratio).
  • an internal optical path that is, an elastic or superelastic material with a higher Young's modulus and deformation ratio.
  • the change of the light flux of the optical medium realizes the measurement of the deformation of the rod, thereby realizing the perception of the physical environment when the wheel structure interacts.
  • the structure shown is a cross-sectional view of the side triangle in the basic unit; the present invention provides a wheeled robot sensor system, including: a light source device 6, a photosensitive device 7 and a light signal processor 8, the light source device 6.
  • the photosensitive device 7 and the optical signal processor 8 are installed on the body of the wheeled robot; among them:
  • the connecting rod of the wheel structure of the wheeled robot is provided with a light path entrance 9 and a light path exit 10, and a light path opening 11 that can lead into the side connecting rod at the connection point; the light source device 6, the photosensitive device 7 and the optical signal processor 8 Connected, the light source device 6 is placed at the entrance 9 of the light path, and the photosensitive device 7 is placed at the exit 10 of the light path.
  • the light emitted by the light source device 6 enters the hollow channel of the connecting rod 5 through the light path entrance 9 and is transmitted to the photosensitive device 7 through the light path exit 10; the optical signal processor 8 performs the optical signal processing on the light source device 6 and the photosensitive device 7 The processing is transformed into the deformation signal 12 of the wheel structure to realize the sensing function.
  • the specific direction of the optical path of the sensing system of the present invention can be specifically designed according to actual needs.
  • the bottom of the optical path is connected to the base part of the robot.
  • the light source device can be a light emitting diode
  • the photosensitive device can be a photosensitive sensor.
  • the present invention also provides another wheeled robot sensing system, including: a light source device 6, a photosensitive device 7 and a light signal processor 8.
  • the light source device 6, the photosensitive device 7 and the light signal processor 8 are mounted on the body of the wheeled robot; among them:
  • the connecting rod of the wheel structure is provided with a light path entrance 9 and a light path exit 10, and the hollow channel of the connecting rod 5 is embedded with a single or multiple optical fiber circuits; and the connection point is provided with a light path opening 11 that can lead into the side connecting rod
  • the light source device 6, the photosensitive device 7 is connected to the optical signal processor 8, the light source device 6 is placed at the light path entrance 9, and the photosensitive device 7 is placed at the light path exit 10.
  • the light emitted by the light source device 6 enters the optical fiber loop through the light path entrance 9 and is transmitted to the photosensitive device 7 through the light path exit 10; the optical signal processor 8 processes the light signals of the light source device 6 and the photosensitive device 7 and converts them into The deformation signal of the wheel structure realizes the sensing function.
  • the specific direction of the optical path of the sensing system of the present invention can be specifically designed according to actual needs.
  • the bottom of the optical path is connected to the base of the robot.
  • the light source device can be a light emitting diode
  • the photosensitive device can be a photosensitive sensor.
  • the present invention uses the first basic unit as an example to describe the adaptive process, and the principle of the adaptive process of the second basic unit is the same as that of the first basic unit.
  • the adaptive process of the first basic unit of the present invention is:
  • the external environment item X with a certain spatial geometric shape is in the blank area in the middle of a triangular Abc of [tetrahedron];
  • the relative combined movement direction of the item X and the basic structural unit of the [tetrahedron type] is pointed by the dotted arrow, and the dotted arrow points to a blank area in the middle of the trilateral Abc of the basic structural unit of the [tetrahedral type];
  • the item X comes into contact with the trilateral Abc of the basic structural unit [tetrahedral], and the trilateral Abc produces corresponding elastic deformation; that is, the original connecting nodes A, b, and c produce a certain amount of Displaced to the positions A', b', and c', the three rods realize the adaptability to the X geometric dimensions of the article through the generated elastic deformation.
  • the relative combined movement direction of the item X and the [tetrahedral] basic structural unit is indicated by the dotted arrow.
  • the item X is relatively uniform in the [tetrahedral] basic structural unit, it is almost uniformly distributed in its triangles Abc and three at the same time.
  • the dotted arrow mainly points to the direction of the rod Ac;
  • the article X comes into contact with the rod Ac of the [tetrahedral] basic structural unit, and the rod Ac produces corresponding elastic deformation; that is, the article X mainly contacts the rod Ac, causing the rod Ac to generate elastic deformation and form a
  • the adaptability of the X geometry the original connecting nodes A and c have a certain amount of displacement to the positions A'and c'respectively inward.
  • the above only shows the [tetrahedral] wheel structure.
  • the [polyhedral] network configuration formed by the method similar to the above can be regarded as multiple [tetrahedral] basic
  • the superposition of the configuration means that the connecting nodes of the lower layer are divided into groups of three to form different basic configurations of [tetrahedral], and then superimposed on the shared link to form the corresponding [polyhedral] composite
  • the network configuration can achieve adaptive coverage and motion stabilization effects for the external environment using item X as an example by similar methods.
  • the adaptive process of the second basic unit of the present invention is:
  • the above only shows the network structure of the first basic unit.
  • the second basic unit is taken as an example, that is, when the number of upper-level connection nodes is multiple
  • the [polyhedral] network configuration formed by the method similar to the above can be regarded as It is a superposition of multiple [tetrahedral] basic configurations; it can also achieve adaptive coverage and motion stabilization effects on the external environment using item X as an example by similar methods.
  • the network structure involved in the present invention produces adaptive deformation, where a The picture shows the physical model of the network structure Aabcd, the picture b shows the adaptive deformation when the article X mainly acts from the side Aab, and the picture c shows the adaptive deformation when the article X mainly acts on the rod close to Ab.
  • the figure d shows the adaptive deformation that occurs when the item X mainly acts from the rod close to Aa, and the entire network structure generates a clockwise twist to make the contact surface Self-adaptation is side Aab.

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Abstract

一种适用于非结构化环境下进行物理交互的轮式机器人，包括：轮式机器人本体（A）和轮部结构（B），轮部结构（B）的网络结构为第一基本单元、第二基本单元、一个第一基本单元和多个第二基本单元的叠合、或多个第二基本单元的叠合；第一基本单元的第一上层结构包含一个第一节点（1），第一下层结构包含至少三个不共线的第二节点（2），第一节点（1）和所有第二节点（2）通过连杆（5）构成三维网络结构；第二基本单元的第二上层结构包含至少两个第三节点（3），第二下层结构包含至少两个第四节点（4），至少两个第四节点（4）与至少两个第三节点（3）不共面，所有第三节点（3）和所有第四节点（4）通过连杆（5）构成三维网络结构。当轮式机器人经过复杂地形时，轮部结构（B）与外部环境几何结构产生自适应性。

Description

一种适用于非结构化环境下进行物理交互的轮式机器人 技术领域
本发明涉及机器人设计技术领域，具体涉及一种适用于非结构化环境下进行物理交互的轮式机器人。
背景技术
现有机器人常采用刚性材质进行结构设计，在应对结构化环境问题中已经形成较为成熟的设计方法，如工业机器人等，但在应对更加广泛的非结构化环境交互时，该设计方法仍具有较大的局限性，往往需要采用较为复杂的机械结构、传动部件、驱动部件等实现复杂的运动功能，在这个过程中，机器人结构的自适应性成为一个重要的设计问题。
通常具有较高环境适应性的机器人可以借助单一结构或仅通过少量改动即可在更加广泛的应用场景下，特别是非结构化环境下，实现各种复杂的功能，这是机器人自适应性的一个重要体现。
现有移动机器人的设计中，往往需要机器人不仅可以在平地上通过一个轮式结构进行高效移动，同时更加希望其可以在复杂崎岖的各种地形环境下进行移动，具有自适应性的移动机器人需要可以在不同的地形下(如高低起伏、崎岖不平等)、不同的环境中(如陆地、沼泽、沙石、水下等)进行高效移动。
为了应对以上问题，现有技术往往通过集成更加复杂的机械结构、驱动方式、传感器件以及控制方法等，实现可以应对以上困难的机器人设计。这类设计往往存在结构复杂、造价昂贵、零件繁多、空间狭小、控制复杂、在特种环境下保护困难等多方面的困难，而提出一个具有通用自适应性的机器人设计方法仍是目前在应对非结构化环境下特殊应用需求的机器人设计领域的一大挑战。
发明内容
针对上述问题中存在的不足之处，本发明提供一种适用于非结构化环境下进行物理交互的轮式机器人。
本发明公开了一种适用于非结构化环境下进行物理交互的轮式机器人，包括：轮式机器人本体和轮部结构，所述轮部结构安装在所述轮式机器人本体上；
所述轮部结构的网络结构采用空间三维网络结构，所述空间三维网络结构基于节点的位置并采用连杆在空间中进行有序组合。
作为本发明的进一步改进，所述空间三维网络结构为第一基本单元、第二基本单元、一个第一基本单元和多个第二基本单元的叠合、或多个第二基本单元的叠合；其中：
所述第一基本单元包括第一上层结构和第一下层结构，所述第一上层结构包含一个第一节点，所述第一下层结构包含至少三个第二节点，至少三个所述第二节点不共线；所述第一节点和所有所述第二节点通过连杆构成三维网络结构，所述连杆连接在两个所述第二节点之间或所述第一节点与第二节点之间；
所述第二基本单元包括第二上层结构和第二下层结构，所述第二上层结构包含至少两个第三节点，所述第二下层结构包含至少两个第四节点，至少两个所述第四节点与至少两个所述第三节点不共面；所有所述第三节点和所有所述第四节点通过连杆构成三维网络结构，所述连杆连接在两个所述第三节点之间、两个所述第四节点之间或所述第三节点与第四节点之间。
作为本发明的进一步改进，所述连杆为中空柔性杆。
作为本发明的进一步改进，任一所述第二节点和与之距离最近的第二节点通过所述连杆连接；
基于就近原则，所述第一节点和一个或多个第二节点通过所述连杆连接。
作为本发明的进一步改进，任一所述第二节点和与之未连接的一个或多个第二节点通过所述连杆连接；
所述第一节点和与之未连接的一个或多个第二节点通过所述连杆连接。
作为本发明的进一步改进，任一所述第三节点和与之距离最近的第三节点通过所述连杆连接；
任一所述第四节点和与之距离最近的第四节点通过所述连杆连接；
基于就近原则，一个或多个所述第三节点和一个或多个第四节点通过所述连杆连接。
作为本发明的进一步改进，任一所述第三节点和与之未连接的一个或多个第三节点通过所述连杆连接；
任一所述第四节点和与之未连接的一个或多个第四节点通过所述连杆连接；
任一所述第三节点和与之未连接的一个或多个第四节点通过所述连杆连接。
作为本发明的进一步改进，还包括：传感系统；
所述传感系统包括：光源器件、光敏器件和光信号处理器，所述光源器件、光敏器件和光信号处理器安装在所述轮式机器人本体上；
所述光源器件发出的光经光路入口进入所述连杆的中空通道中，并经光路出口传输至所述光敏器件；
所述光信号处理器对所述光源器件和光敏器件的光信号进行处理，转化为所述轮部结构的形变信号，实现传感功能。
作为本发明的进一步改进，所述连杆的中空通道中内嵌单根或多根光纤回路；
所述光源器件发出的光经光路入口进入所述光纤回路中，并经光路出口传输至所述光敏器件处；
所述光信号处理器对所述光源器件和光敏器件的光信号进行处理，转化为所述轮部结构的形变信号，实现传感功能。
与现有技术相比，本发明的有益效果为：
本发明轮式机器人的轮部结构采用空间三维网络结构，该空间三维网络结构基于节点的位置并采用连杆在空间中进行有序组合；当轮式机器人经过复杂地形时，轮部结构的连杆在空间中进行凹陷式形变，产生与外部环境几何结构的自适应性，从而使轮式机器人的轮部结构实现非结构化环境下的物理交互；
在此之上，本发明可直接利用轮部结构连杆的中空结构作为光路或内嵌单根或多根光纤回路，通过光信号处理器测量通光量的变化检测连杆的物理形变量，从而使轮式机器人的轮部结构在交互时实现非结构化环境的物理感知。
附图说明
图1为本发明一种实施例公开的轮式机器人的结构示意图；
图2为本发明一种实施例公开的第一基本单元的结构示意图；
图3为本发明一种实施例公开的第二基本单元的结构示意图；
图4为本发明一种实施例公开的轮部结构的网络结构示意图；
图5为本发明另一种实施例公开的轮部结构的网络结构示意图；
图6为本发明一种实施例公开的传感系统的侧视剖视图；
图7为本发明一种实施例公开的物品X与第一基本单元接触前后的自适应形变示意图；
图8为图7中第一基本单元对物品X自适应调整后的示意图；
图9为本发明另一种实施例公开的物品X与第一基本单元接触前后的自适应形变示意图；
图10为本发明一种实施例公开的物品X与轮部结构接触后的自适应形变示意图。
图中：
A、轮式机器人本体；B、轮部结构；
1、第一节点；2、第二节点；3、第三节点；4、第四节点；5、连杆；6、光源器件；7、光敏器件；8、光信号处理器；9、光路入口；10、光路出口；11、可导入侧面连杆的光路开口；12、形变信号。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理 解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，还需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
下面结合附图对本发明做进一步的详细描述：
如图1所示，本发明提供一种适用于非结构化环境下进行物理交互的轮式机器人，包括：轮式机器人本体A和轮部结构B，轮部结构B安装在轮式机器人本体A上；其中：
本发明的轮部结构B的网络结构为第一基本单元、第二基本单元、一个第一基本单元和多个第二基本单元的叠合、或多个第二基本单元的叠合；在使用时可根据实际需求选择上述形式的一种。
具体的：
如图2所示，本发明的第一基本单元包括第一上层结构和第一下层结构；
第一上层结构包含一个第一节点(A)1；第一下层结构包含至少三个不共线的第二节点2，不共线的第二节点2保证第一节点1与第二节点2连接后形成的是空间三维网络结构，而不是平面网络结构；
第一节点1和所有第二节点2通过连杆5构成三维网络结构，连杆5为中空柔性杆(即具有较高杨氏模量以及形变比例弹性或超弹性材料)，也可采用符合需求的其他实心杆件，优选采用中空柔性杆；当选用实心杆件时可在实心杆件上设置供光路通过的通道；连杆5连接在两个第二节点2之间或第一节点1与第二节点2之间。其中，本发明的所有节点(包含第一节点和第二节点)连接成一整体，并不对第一节点1与第二节点2的具体连接方式进行限定，第一节点1与第二节点2的具体连接方式可根据不同的需求进行设计。
如图2所示，本发明示出了下层为3个第二节点(a/b)、4个第二节点(a/b/c)以及n个第二节点(a/b/c/…/n)的第一基本单元结构；其中：
优选的，本发明在上层结构中，若本层内仅一个节点则在本层之内无连杆连接；在下层结构中，任一第二节点通常和与之距离最近的第二节点通过连杆连接。在上下两层结构中，基于就近原则，第一节点通常和一个或多个第二节点通过连杆连接。
进一步优选的，本发明可根据不同场景的实际设计需要，在下层结构中，任一第二节点和与之未连接的一个或多个第二节点通过连杆连接；在上下两层结构中，第一节点和与之未连接的一个或多个第二节点通过连杆连接。
如图3所示，本发明的第二基本单元包括第二上层结构和第二下层结构；
第二上层结构包含至少两个第三节点3；
第二下层结构包含至少两个第四节点4，至少两个第四节点4与至少两个第三节点3不共面；
所有第三节点3和所有第四节点4通过连杆5构成三维网络结构，连杆5为中空柔性杆，连杆5连接在两个第三节点3之间、两个第四节点4之间或第三节点3与第四节点4之间。其中，本发明的所有节点(包含第三节点和第四节点)连接成一整体，并不对第三节点3与第四节点4的具体连接方式进行限定，第三节点3与第四节点4的具体连接方式可根据不同的需求进行设计。
优选的，本发明在上层结构中，任一第三节点和与之距离最近的第三节点通过连杆连接；在下层结构中，任一第四节点和与之距离最近的第四节点通过连杆连接；在上下两层结构中，基于就近原则，一个或多个第三节点和一个或多个第四节点通过连杆连接。
进一步优选的，本发明可根据不同场景的实际设计需要，在上层结构中，任一第三节点和与之未连接的一个或多个第三节点通过连杆连接；在下层结构中，任一第四节点和与之未连接的一个或多个第四节点通过连杆连接；在上下两层结构中，任一第三节点和与之未连接的一个或多个第四节点通过连杆连接。
更进一步优选的，需要指出的是，此类基本结构单元也可视为前述基本结构单元的一种特例，即两个具有相同下层节点构型但不同单一上层节点构型的基本单元之间的组合。此时，可以通过连接这两个基本单元的单一上层节点，同时去除其他与该上层节点相连但长度更长的连杆的方式进行结构简 化，避免连杆交错的结构。
如图3所示，本发明示出了上层为2个第三节点(A/B)、下层为2个第四节点(a/b)，上层为2个第三节点(A/B)、下层为3个第四节点(a/b/c)，上层为2个第三节点(A/B)、下层为4个第四节点(a/b/c/d)，上层为3个第三节点(A/B/C)、下层为3个第四节点(a/b/c)，上层为4个第三节点(A/B/C/D)、下层为4个第四节点(a/b/c/d)的第二基本单元结构；其中：
如图3a所示的【四边形式】ABab构型，通过类似前述第一种具体示例中的分析方法可知该基本结构单元可以实现对以物品X为例的外部环境的自适应性包覆和运动稳定效果；
如一种如图3b所示的【双三边双四边式】ABabc构型，可以等效为两个【四面体式】基本结构单元Aabc和Babc通过下层abc的叠加形成的一个复合结构单元，然后将上层的两个节点A和B进行连接，由于A与a和b的空间距离较近，而B仅与c的空间距离较近，则可以通过去除Ac，Ba，Bb这三根连杆的方式完成结构简化，避免连杆交错的结构，通过类似前述分析可知该基本结构单元可以实现对以物品X为例的外部环境的自适应性包覆和运动稳定效果。
如另一种如图3c所示的【单四边四三边式】ABabc构型，可以等效为两个【四面体式】基本结构单元Aabc和Babc通过下层abc的叠加形成的一个复合结构单元，但Ac和Bc的空间距离基本相等，Aa和Bb的空间距离也基本相等，此时可以通过去除Ab、Ba的方式完成结构简化，避免连杆交错的结构，该构型还可以视为是一个以c为第一层，ABba为第二层的金字塔型基本结构单元，通过类似前述分析可知该基本结构单元可以实现对以物品X为例的外部环境的自适应性包覆和运动稳定效果。
如另一种如图3d所示【三四边双三边式】ABabcd构型，可以等效为两个【金字塔式】基本结构单元Aabcd和Babcd通过下层abcd的叠加形成一个复合结构单元，但Aa和Ab的空间距离基本相等，Bc和Bd的空间距离也基本相等，此时可以通过去除Ac、Ad、Ba、Bb的方式完成结构简化，避免连杆交错的结构，通过类似前述分析可知该基本结构单元可以实现对以物品X为例的外部环境的自适应性包覆和运动稳定效果。
其他情况可根据以上分析以此类推获得其他基本网络结构单元。
此类基本结构单元的另一个特例是当上下两层包含相同数量的连接节点，每层内仅需通过连杆依次连接各相邻节点形成单一闭环结构，两层间通过连杆依次连接对应节点形成三维网络结构，且每层内的各节点可不共面。
如图3e所示【双层三边式】ABCabc构型，上下两层分别包含三个连接节点；
如图3f所示【双层四边式】ABCDabcd构型，上下两层分别包含四个连接节点。
如图4所示，在上述第一基本单元与第二基本单元基础上，本发明所设计的轮部结构的网络结构可通过采用一个第一基本单元与多个第二基本单元组合堆叠的方式，每层基本结构单元可分别对物品X的不同位置的几何尺寸进行相应的凹陷式形变，通过每层基本结构的自适应性和运动稳定效果的叠加，包括网络结构通过扭转形变产生的自适应性包覆和运动稳定效果，综合提升整体空间网络结构对外部环境的自适应性包覆和运动稳定效果，本发明所涉及的轮部结构的空间网络结构的一个显著特点是当轮式机器人经过复杂地形时，轮部结构可以从任意侧向角度实现对外部环境进行几何结构自适应以及运动稳定：
如图4a所示【多层四面体式】结构：包含顶层的【四面体式】基本结构单元以及底部的多个双层【三边式】基本结构单元组成；
如图4b所示【多层金字塔式】结构：包含顶层的【金字塔式】基本结构单元以及底部的多个双层【四边式】基本结构单元组成；
根据不用场景的实际需求，可根据本发明所描述的设计方法进行相应的结构设计，实现轮部结构对外部环境的结构自适应性和运动稳定效果。
优选的，本发明根据不同场景的实际设计需要，每个连杆的几何形状，可以是一般直线，也可以是某种特殊设计的复杂曲线，每个连杆的截面形状可以是圆形、方形或其他任意截面形状。
优选的，每个连杆采用具有一定弹性的材料，即在外力作用下可产生可被检测到的弹性形变，任意连杆内部可采用中空结构，通过检测杆件内部的通光量，实现对杆件弹性形变的感知。
优选的，根据不同场景的实际设计需要，连接节点处实现连杆间连接的方式可以是一般的结构固接(无自由度即连杆间无相对运动自由度)、铰链连 接(一个自由度即连杆间有一个相对转动的运动自由度)、球铰连接(三个自由度即连杆间有两个相对转动加一个绕轴自旋的运动自由度)等多种连接方式。
如图5所示，在上述基本单元基础上，本发明所设计的轮部结构的空间网络结构可通过采用多个第二基本结构组合堆叠的方式，每层基本结构单元可分别对物品X的不同位置的几何尺寸进行相应的凹陷式形变，通过每层基本结构的自适应性和运动稳定效果的叠加，包括网络结构通过扭转形变产生的自适应性包覆和运动稳定效果，综合提升整体空间网络结构对外部环境的自适应性包覆和运动稳定效果，本发明所涉及的轮部结构的空间网络结构的一个显著特点是可以从任意侧向角度实现对外部环境进行几何结构自适应以及运动稳定：
如图5a所示【一种多层复合式】结构：包含顶层的【单四边三三边式】基本结构单元以及底部的多个双层【三边式】基本结构单元组成；
如图5b所示【另一种多层复合式】结构：包含顶层的【三四边双三边式】基本结构单元以及底部的多个双层【四边式】基本结构单元组成；
根据不用场景的实际需求，可根据本发明所描述的设计方法进行相应的结构设计，实现机器人本体对外部环境的结构自适应性和运动稳定效果，这一方法可实现的多样化机器人结构。
优选的，本发明根据不同场景的实际设计需要，每个连杆的几何形状，可以是一般直线，也可以是某种特殊设计的复杂曲线，每个连杆的截面形状可以是圆形、方形或其他任意截面形状。
优选的，每个连杆采用具有一定弹性的材料，即在外力作用下可产生可被检测到的弹性形变，任意连杆内部可采用中空结构，通过检测杆件内部的通光量，实现对杆件弹性形变的感知。
优选的，根据不同场景的实际设计需要，连接节点处实现连杆间连接的方式可以是一般的结构固接(无自由度即连杆间无相对运动自由度)、铰链连接(一个自由度即连杆间有一个相对转动的运动自由度)、球铰连接(三个自由度即连杆间有两个相对转动加一个绕轴自旋的运动自由度)等多种连接方式。
本发明可以通过采用具有内部光路的柔性杆件(即具有较高杨氏模量以 及形变比例弹性或超弹性材料)，当杆件产生形变时，通过测量其光路内或光路内部如光纤的通光介质的通光量变化实现对杆件形变量的计量，从而实现轮部结构在交互时对物理环境的感知。
具体的：
如图6所示，其所示的结构为基本单元中侧面三角的剖视图；本发明提供一种轮式机器人的传感系统，包括：光源器件6、光敏器件7和光信号处理器8，光源器件6、光敏器件7和光信号处理器8安装在轮式机器人本体上；其中：
轮式机器人轮部结构的连杆上设有光路入口9和光路出口10，并在连接点处设有可导入侧面连杆的光路开口11；光源器件6、光敏器件7与光信号处理器8相连，光源器件6置于光路入口9处，光敏器件7置于光路出口10处。
使用时，光源器件6发出的光经光路入口9进入连杆5的中空通道中，并经光路出口10传输至光敏器件7；光信号处理器8对光源器件6和光敏器件7的光信号进行处理，转化为轮部结构的形变信号12，实现传感功能。
进一步，本发明传感系统光路具体的走向可根据实际需求具体设计，底部有光路出入口并连接至机器人底座部分，光源器件可采用发光二极管，光敏器件可采用光敏传感器。
本发明还提供另一种轮式机器人的传感系统，包括：光源器件6、光敏器件7和光信号处理器8，光源器件6、光敏器件7和光信号处理器8安装在轮式机器人本体上；其中：
轮部结构的连杆上设有光路入口9和光路出口10，连杆5的中空通道中内嵌单根或多根光纤回路；并在连接点处设有可导入侧面连杆的光路开口11；光源器件6、光敏器件7与光信号处理器8相连，光源器件6置于光路入口9处，光敏器件7置于光路出口10处。
使用时，光源器件6发出的光经光路入口9进入光纤回路中，并经光路出口10传输至光敏器件7；光信号处理器8对光源器件6和光敏器件7的光信号进行处理，转化为轮部结构的形变信号，实现传感功能。
进一步，本发明传感系统光路具体的走向可根据实际需求具体设计，底部有光路出入口并连接至机器人底座部分，光源器件可采用发光二极管，光 敏器件可采用光敏传感器。
实施例：
本发明以第一基本单元为例对自适应过程进行说明，第二基本单元的自适应过程的原理同第一基本单元一致。
本发明第一基本单元的自适应过程为：
本发明以图2中Aabc为例，当受到来自具有一定三维几何尺寸物品X的外部环境作用力时，与物品X接触的边分别产生不同程度的弹性形变对物品X的三维几何尺寸形成空间包覆，实现几何形状的自适应性。
如图7所示，具有一定空间几何形状的外部环境物品X在【四面体式】的一个三边形Abc中间的空白区域内；
产生接触前，物品X与【四面体式】基本结构单元的相对合运动方向沿虚线箭头所指，虚线箭头指向【四面体式】基本结构单元的一个三边形Abc中间空白区域内；
产生接触后，物品X与【四面体式】基本结构单元的三边形Abc产生接触，三边形Abc产生相应的弹性形变；即，原始的连接节点A、b、c分别向内侧产生一定量的位移至A’、b’、c’位置，三根杆件通过产生的弹性形变实现对物品X几何尺寸的适应性。
如图8所示，在图7所示接触后示意图的情况中，可能由于虚线箭头所表示的作用力不均，加上A’点额外受到来自杆件A’a的限制，使得三边形A’bc产生绕杆件A’a的旋转，造成整个【四面体式】基本结构单元的扭转运动，所产生的整体形变进一步加强对物品X几何结构的适应性，当图示三个箭头所示各力瞬时均等式，实现对物品X运动稳定的效果。
如图9所示，具有一定空间几何形状的外部环境物品X在【四面体式】的位置几乎均匀分布在其三边形Abc和三边形Aac区域内。
产生接触前，物品X与【四面体式】基本结构单元的相对合运动方向沿虚线箭头所指，此时由于物品X相对【四面体式】基本结构单元几乎同时均匀分布在其三边形Abc和三边形Aac区域内，即虚线箭头主要指向杆件Ac方向；
产生接触后，物品X与【四面体式】基本结构单元的杆件Ac产生接触，杆件Ac产生相应的弹性形变；即，物品X主要与杆Ac产生接触，使得杆 Ac产生弹性形变形成对物品X几何尺寸的适应性，原始的连接节点A、c分别向内侧产生一定量的位移至A’、c’位置。
同时，基于图8的原理，本发明当物品X的对该构型不同连杆作用力不均时，会对其所施加力的那一面形成扭转作用，使得整个【四面体式】构型也随之扭转，进一步加强对物品X的自适应性几何包覆，进而实现对物品X的运动稳定。
上述仅示出了【四面体式】的轮部结构，当下层连接节点数量超过三个时，采用类似以上方法所形成的【多面体式】网络构型可以视作是多个上述【四面体式】基本构型的叠加，即将下层的连接节点按照三个一组进行分割，分别形成不同的【四面体式】基本构型，然后在共用的连杆处进行重叠叠加，组合成对应的【多面体式】复合网络构型，可通过类似以上方法实现对以物品X为例的外部环境的自适应性包覆和运动稳定效果。
本发明第二基本单元的自适应过程为：
上述仅示出了第一基本单元网络结构，当以第二基本单元为例时，即当上层连接节点数量为多个时，采用类似以上方法所形成的【多面体式】网络构型可以视作是多个上述【四面体式】基本构型的叠加；其也可通过类似以上方法实现对以物品X为例的外部环境的自适应性包覆和运动稳定效果。
如图10所示，以一个如图4b的多层金字塔式网络结构为例，当受到外部环境物品X来自不同角度的作用时，本发明所涉及的网络结构产生的自适应性形变，其中a图为网络结构Aabcd的实物模型，b图为当物品X主要从侧面Aab作用时产生的自适应性形变，c图为当物品X主要从靠近Ab杆件作用时产生的自适应性形变，此时整个网络结构产生逆时针扭转使接触面自适应为侧面Aab，d图为当物品X主要从靠近Aa杆件作用时产生的自适应性形变，此时整个网络结构产生顺时针扭转使接触面自适应为侧面Aab。
以上仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (9)

  1. 一种适用于非结构化环境下进行物理交互的轮式机器人，其特征在于，包括：轮式机器人本体和轮部结构，所述轮部结构安装在所述轮式机器人本体上；
    所述轮部结构的网络结构采用空间三维网络结构，所述空间三维网络结构基于节点的位置并采用连杆在空间中进行有序组合。
  2. 如权利要求1所述的轮式机器人，其特征在于，所述空间三维网络结构为第一基本单元、第二基本单元、一个第一基本单元和多个第二基本单元的叠合、或多个第二基本单元的叠合；其中：
    所述第一基本单元包括第一上层结构和第一下层结构，所述第一上层结构包含一个第一节点，所述第一下层结构包含至少三个第二节点，至少三个所述第二节点不共线；所述第一节点和所有所述第二节点通过连杆构成三维网络结构，所述连杆连接在两个所述第二节点之间或所述第一节点与第二节点之间；
    所述第二基本单元包括第二上层结构和第二下层结构，所述第二上层结构包含至少两个第三节点，所述第二下层结构包含至少两个第四节点，至少两个所述第四节点与至少两个所述第三节点不共面；所有所述第三节点和所有所述第四节点通过连杆构成三维网络结构，所述连杆连接在两个所述第三节点之间、两个所述第四节点之间或所述第三节点与第四节点之间。
  3. 如权利要求2所述的轮式机器人，其特征在于，所述连杆为中空柔性杆。
  4. 如权利要求2所述的轮式机器人，其特征在于，任一所述第二节点和与之距离最近的第二节点通过所述连杆连接；
    基于就近原则，所述第一节点和一个或多个第二节点通过所述连杆连接。
  5. 如权利要求4所述的轮式机器人，其特征在于，任一所述第二节点和与之未连接的一个或多个第二节点通过所述连杆连接；
    所述第一节点和与之未连接的一个或多个第二节点通过所述连杆连接。
  6. 如权利要求2所述的轮式机器人，其特征在于，任一所述第三节点和与之距离最近的第三节点通过所述连杆连接；
    任一所述第四节点和与之距离最近的第四节点通过所述连杆连接；
    基于就近原则，一个或多个所述第三节点和一个或多个第四节点通过所 述连杆连接。
  7. 如权利要求6所述的轮式机器人，其特征在于，任一所述第三节点和与之未连接的一个或多个第三节点通过所述连杆连接；
    任一所述第四节点和与之未连接的一个或多个第四节点通过所述连杆连接；
    任一所述第三节点和与之未连接的一个或多个第四节点通过所述连杆连接。
  8. 如权利要求1-7中任一项所述的轮式机器人，其特征在于，还包括：传感系统；
    所述传感系统包括：光源器件、光敏器件和光信号处理器，所述光源器件、光敏器件和光信号处理器安装在所述轮式机器人本体上；
    所述光源器件发出的光经光路入口进入所述连杆的中空通道中，并经光路出口传输至所述光敏器件；
    所述光信号处理器对所述光源器件和光敏器件的光信号进行处理，转化为所述轮部结构的形变信号，实现传感功能。
  9. 如权利要求8所述的轮式机器人，其特征在于，还包括：所述连杆的中空通道中内嵌单根或多根光纤回路；
    所述光源器件发出的光经光路入口进入所述光纤回路中，并经光路出口传输至所述光敏器件处；
    所述光信号处理器对所述光源器件和光敏器件的光信号进行处理，转化为所述轮部结构的形变信号，实现传感功能。
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