CN105752186B - Take turns sufficient suitching type robot system and its control method - Google Patents
Take turns sufficient suitching type robot system and its control method Download PDFInfo
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- CN105752186B CN105752186B CN201610303924.8A CN201610303924A CN105752186B CN 105752186 B CN105752186 B CN 105752186B CN 201610303924 A CN201610303924 A CN 201610303924A CN 105752186 B CN105752186 B CN 105752186B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000009184 walking Effects 0.000 claims abstract description 57
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 235000020004 porter Nutrition 0.000 claims abstract description 17
- 102000012498 secondary active transmembrane transporter activity proteins Human genes 0.000 claims abstract description 17
- 108040003878 secondary active transmembrane transporter activity proteins Proteins 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 230000004044 response Effects 0.000 claims abstract description 5
- 210000002683 foot Anatomy 0.000 claims description 50
- 239000011120 plywood Substances 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 4
- 238000012546 transfer Methods 0.000 claims description 3
- 229910017435 S2 In Inorganic materials 0.000 claims description 2
- 230000007423 decrease Effects 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims 1
- 230000004888 barrier function Effects 0.000 abstract description 12
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 230000011664 signaling Effects 0.000 description 2
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000000474 nursing effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The present invention proposes a kind of sufficient suitching type robot system of wheel and its control method, six-legged walking machine structure and four-wheel travel mechanism are set simultaneously on robot master, Environment Obstacles thing is detected by lower photoelectric sensor, when not detecting barrier, the movement of controller control four-wheel travel mechanism, running on wheels go for plane road surface it is up walk, and instantly photoelectric sensor detect barrier then real-time Transmission obstacle signal to controller, controller in response to obstacle signal and control machine people from four-wheel travel mechanism mobile handoff is that six-legged walking machine structure carries out sufficient business concern operating a porters' service and walked, sufficient pin is more flexible, easily walked in obstacle section, in sufficient pin walking process, sufficient pin support ground causes robot master lifting so as to drive four road wheel liftings, so as to prevent the friction of road wheel and ground, also so that sufficient pin walk it is more flexible.
Description
Technical field
The present invention relates to robot field, more particularly to be a kind of to take turns sufficient suitching type robot system and its controlling party
Method.
Background technology
With the development of technology, robot is applied to the various aspects of production and living.Robot with locomotive function
Be widely used in the material carrying in automated production workshop, space exploration, ocean development, service, medical treatment and nursing, building,
Agriculture and forestry, special trade (core, pollution environment etc.), military affairs etc..
It is exactly to load onto wheel to him to allow robot to move up most simple most straightforward approach, both ratcheting mechanism.This wheel
Formula " pin " can be moved stably at a high speed, simple in construction, easy to operate, but the requirement of road pavement is higher, is only applicable to flat
Ground moving.When run into road surface is uneven, even have the situation of high-low staggered-floor when, then robot can not be by existing side
Formula can typically be taken a devious route using robot, to circumvent obstacle section, but be easy to so that robot deviates predetermined trajectory row
Walk, go wrong, and can not still solve the problems, such as to walk in the road conditions of high-low staggered-floor.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of sufficient suitching type robot system of wheel, can be according to whether depositing
Environment Obstacles thing is walked in sufficient business concern operating a porters' service and switched between the two with running on wheels, overcomes difficulty in walking under obstacle road conditions the problem of.
To solve the above problems, the present invention proposes a kind of sufficient suitching type robot system of wheel, including：Robot master, six
Foot walking machine structure, four-wheel travel mechanism, photoelectric sensor, controller；It is provided with vertically upward on the robot master
Analyzing rod；The six-legged walking machine structure includes six three joint foot pin, and the six three joint foot pin uniform intervals of foot are around setting
At the edge position of the robot master；The four-wheel travel mechanism includes four road wheels, four road wheels difference
It is arranged on be centrosymmetric four positions of the robot master；The photoelectric sensor includes lower photoelectric sensor,
The lower photoelectric sensor is arranged on the certain altitude of analyzing rod, to detect Environment Obstacles thing in robot moving process
And simultaneously real-time Transmission gives the controller to corresponding dyspoiesis signal；The controller is not receiving the lower photoelectric sensor
Obstacle signal when control the six-legged walking machine structure to lift and control the four-wheel travel mechanism to move, the controller exists
The six-legged walking machine structure is controlled to decline to support ground and control institute during the obstacle signal for receiving the lower photoelectric sensor
State the walking of six-legged walking machine structure.
According to one embodiment of present invention, the photoelectric sensor is also included to be detected in robot moving process
Environment Obstacles thing and corresponding dyspoiesis signal and real-time Transmission give the upper photoelectric sensor of the controller, the upper photoelectric transfer
Sensor is arranged on the position higher than the lower photoelectric sensor of the analyzing rod；Controller photoelectric sensing on receiving
Control the four-wheel travel mechanism to stop mobile or described six-legged walking machine structure during the obstacle signal of device and stop walking.
According to one embodiment of present invention, there is scale, the lower photoelectric sensor and upper photoelectricity on the analyzing rod
Sensor slidable connection is on the analyzing rod and can be locked on the analyzing rod.
According to one embodiment of present invention, the robot master includes separated by a distance up and down link together
Top plate and lower plywood, the top plate and lower plywood are in regular hexagon；Four road wheels of the four-wheel travel mechanism are set
Put and be separately positioned on top plate each edge in the lower section of the lower plywood, six three joint foot pin of the six-legged walking machine structure
Centre position；When the controller controls the six-legged walking machine structure walking, alternate three three joint foot pin are one group of foot pin,
Two groups of foot pin are controlled alternately to be lifted, stretches out, putting down successively.
According to one embodiment of present invention, it is additionally provided with and can stretch up and down in the center of the lower plywood of the robot master
The supporting part of contracting, the supporting part includes being used for and the plectane of ground contact and the pole that can stretch up and down, and the one of the pole
End connects the plectane, and the other end connects the lower plywood, during the pole elongation can lifting robot master so as to by four
Wheel travel mechanism is lifted away from ground.
According to one embodiment of present invention, in addition to the DC servo to be driven under the control of the controller is electric
Machine, the DC servo motor include 18 to drive the joint digital rudder controller in each joint of six three joint foot pin, and 4
It is individual driving the road wheel digital rudder controller of four road wheels；The controller is single-chip microcomputer, and the single-chip microcomputer has at least 4
Railway digital rudder control interface, the first digital rudder controller control interface are taken by 4 road wheels with digital rudder controller, the second digital rudder controller
Control interface is taken by the joint of two front foots with digital rudder controller, and the 3rd digital rudder controller control interface is used by the joint of two mesopodiums
Digital rudder controller is taken, and the 4th digital rudder controller control interface is taken by the joint of two metapedes with digital rudder controller.
According to one embodiment of present invention, take and pass through communication between the digital rudder controller of same digital rudder controller control interface
Line is serially connected, and each digital rudder controller uses half-duplex asynchronous serial bus communication mode, and each digital rudder controller is assigned difference
Steering wheel mark.
The present invention also provides a kind of control of the sufficient suitching type robot system of wheel as described in any one in previous embodiment
Method processed, comprises the following steps：
S1：Under original state, controller control four-wheel travel mechanism moves, and realizes the running on wheels of robot；
S2：In robot moving process, lower photoelectric sensor detects Environment Obstacles thing, if detecting Environment Obstacles thing,
Then simultaneously real-time Transmission gives the controller to corresponding dyspoiesis signal；
S3：Controller controls in response to the obstacle signal and switches to sufficient business concern operating a porters' service to walk, and controls the four-wheel travel mechanism
Stop mobile, described six-legged walking machine structure walking, so that Environment Obstacles thing is crossed over by robot；
S4：Controller controls after robot across obstacle switches back into the movement of four-wheel travel mechanism again.
According to one embodiment of present invention, in the step S2, in robot moving process, lower photoelectric sensor
Environment Obstacles thing is detected simultaneously with upper photoelectric sensor, if lower photoelectric sensor and/or upper photoelectric sensor detect environment barrier
Hinder thing, then simultaneously real-time Transmission gives the controller to corresponding dyspoiesis signal；In the step S3, if controller only receives
The obstacle signal of lower photoelectric sensor, which then controls, switches to sufficient business concern operating a porters' service to walk, if controller receives lower photoelectric sensor and upper simultaneously
The obstacle signal of both photoelectric sensors then controls the four-wheel travel mechanism to retreat, turn, to avoid Environment Obstacles thing.
According to one embodiment of present invention, in an initial condition, six three joint foot pin of six-legged walking machine structure are lifted away from
Ground；When switching to sufficient business concern operating a porters' service to walk, controller controls six three joint foot pin supporting descending ground, alternate three three joints
Sufficient pin is one group of foot pin, and controller then controls two groups of foot pin alternately lift, stretch out, putting down successively.
After adopting the above technical scheme, the present invention has the advantages that compared with prior art：On robot master
Six-legged walking machine structure and four-wheel travel mechanism are set simultaneously, Environment Obstacles thing is detected by lower photoelectric sensor, not detected
During to barrier, the movement of controller control four-wheel travel mechanism, running on wheels go for plane road surface it is up walk, and instantly
Photoelectric sensor detect barrier then real-time Transmission obstacle signal to controller, controller control machine in response to obstacle signal
Device people is that the sufficient business concern operating a porters' service of six-legged walking machine structure progress is walked from four-wheel travel mechanism mobile handoff, and sufficient pin is more flexible, it is easier to is hindering
Hinder in section and walk, in sufficient pin walking process, sufficient pin support ground causes robot master lifting so as to drive four walkings
Lifting is taken turns, so as to prevent the friction of road wheel and ground, it is more flexible also make it that sufficient pin walks.
Brief description of the drawings
Fig. 1 is the structured flowchart of the sufficient suitching type robot system of wheel of the embodiment of the present invention；
Fig. 2 is the structural representation of the Lun Zu suitching types robot of the embodiment of the present invention；
Fig. 3 is the schematic flow sheet of the control method of the Lun Zu suitching types robot of the embodiment of the present invention.
Embodiment
In order to facilitate the understanding of the purposes, features and advantages of the present invention, below in conjunction with the accompanying drawings to the present invention
Embodiment be described in detail.
Many details are elaborated in the following description in order to fully understand the present invention.But the present invention can be with
Much it is different from other manner described here to implement, those skilled in the art can be in the situation without prejudice to intension of the present invention
Under do similar popularization, therefore the present invention is not limited to the specific embodiments disclosed below.
Referring to Fig. 1, the wheel foot suitching type robot system of the present embodiment, including：Robot master, six-legged walking machine structure 2,
Four-wheel travel mechanism 3, photoelectric sensor, controller 5.Six-legged walking machine structure 2, four-wheel travel mechanism 3, photoelectric sensor and control
Device equal 5 is arranged on robot master, and the walking of six-legged walking machine structure 2 and the movement of four-wheel travel mechanism 3 can be with movement machines
People's master, so that whole robot ambulation or movement.Analyzing rod vertically upward is additionally provided with robot master.
Referring to Fig. 2, six-legged walking machine structure 2 includes six three joint foot pin, and six three joint foot pin uniform intervals of foot, which surround, to be set
Put at the edge position of robot master.Three joint foot business concern operating a porters' service are moved more flexible, and uniform intervals are around being arranged on robot master week
Side, the stability of robot ambulation can be strengthened, prevent that centre-of gravity shift occurs for robot in walking process.
Four-wheel moving machine 3 includes four road wheels, and four road wheels are separately positioned on being centrosymmetric for robot master
Four positions on, four road wheels can be driving wheel, strengthen the walking stability of robot, it is not easy to it is stuck, be easy to
The control of moving direction, also it is not easy to be absorbed in hole.Preferably, four road wheels are in front and rear distribution two-by-two, walking stability and
It is higher to turn to reliability, but without limitation, four road wheels can also for example be arranged side by side.Front and rear is relative, front and back
To reference according to can be robot direction of advance.
Photoelectric sensor includes lower photoelectric sensor 41, and lower photoelectric sensor 41 is arranged on the certain altitude of analyzing rod,
It whether there is Environment Obstacles thing so as to detect the anterior position of the height, before what lower photoelectric sensor 41 detected is robot
The Environment Obstacles thing in front during entering, the probe of lower photoelectric sensor 41 is towards front.Lower photoelectric sensor 41 is in robot
Environment Obstacles thing, the corresponding dyspoiesis signal when detecting Environment Obstacles thing are detected in moving process, and in real time believes obstacle
Number it is transferred to controller 5.Controller 5 is not when receiving the obstacle signal of lower photoelectric sensor 41, control six-legged walking machine structure 2
Lift and control four-wheel travel mechanism 3 to move, and when receiving the obstacle signal of lower photoelectric sensor 41, the foot step of control six
Row mechanism 2 declines to support ground and control six-legged walking machine structure 2 to walk.
In one embodiment, photoelectric sensor can also include upper photoelectric sensor 42, and upper photoelectric sensor 42 is set
In the position higher than lower photoelectric sensor 41 of analyzing rod, thus when upper photoelectric sensor 42 detects barrier, lower photoelectricity
Sensor 41 also can accordingly detect barrier.Lower photoelectric sensor 41 and upper photoelectric sensor 42 for example can be infrared sensings
Device.In robot moving process, upper photoelectric sensor 42 and lower photoelectric sensor 41 detect Environment Obstacles thing simultaneously, when both
Corresponding dyspoiesis signal during Environment Obstacles thing is detected simultaneously, and by obstacle signal real-time Transmission to controller 5, controller
5 in the obstacle signal of photoelectric sensor on receiving 42, and control four-wheel travel mechanism 3 stops mobile or six-legged walking machine structure 2
Stop walking, because the position of upper photoelectric sensor 42 is higher than the position of lower photoelectric sensor 41, when upper photoelectric sensor 42
When can also detect barrier, illustrating the excessive height of barrier, robot can not walk cross over by sufficient business concern operating a porters' service, thus
Controller 5 first control stop robot advance, then four-wheel travel mechanism 3 can be controlled to be moved rearwards, retreat turn, with around
Cross obstacle section.
Preferably, having scale on analyzing rod, lower photoelectric sensor 41 and the slidable connection of upper photoelectric sensor 42 are being surveyed
In fixed pole and it can be locked on analyzing rod, so as to adjust the height for the barrier that robot can cross over, to be adapted to
The robot of different scales, and the obstacle signal generated according to lower photoelectric sensor 41 and upper photoelectric sensor 42 can know barrier
Hinder the general height scope of thing.
Referring to Fig. 2, in one embodiment, robot master can include the top plate 11 and lower plywood to link together
12, top plate 11 and lower plywood are separated by a distance about 12, and top plate 11 and lower plywood 12 are in regular hexagon.Four-wheel moves
Four road wheels of mechanism 3 are arranged on the lower section of lower plywood 12, and six three joint foot pin of six-legged walking machine structure 2 are separately positioned on
The centre position of each edge of top plate 11, in running on wheels, six three joint foot pin are controlled to be raised out ground, due to six
Three joint foot pin are arranged on top plate 11, and four road wheels are arranged on the lower section of lower plywood 12, are existed between the two necessarily
Distance, so as to reduce the distance of six three joint foot pin liftings of foot, and then reduce the overall energy consumption of robot.Controller 5 is controlled
When six-legged walking machine structure 2 processed is walked, three three joint foot pin of alternate on top plate 11 (non-adjacent) are one group of foot pin, two groups
Sufficient pin is controlled alternately to be lifted, stretches out, putting down successively.In the process of walking, it may be such that non-conterminous tripodia lands all the time, to ground
The strong point it is more, improve mobile stability, it is not easy to cause robot to overturn.
In one embodiment, the supporting part that can be stretched up and down is additionally provided with the center of the lower plywood 12 of robot master
(not shown), supporting part include being used for and the plectane of ground contact and the pole that can be stretched up and down, one end connection of pole
Plectane, other end connection lower plywood 12, when pole extends can lifting robot master so as to by four-wheel travel mechanism 3 being lifted away from ground
Face.When robot stops work, robot need not be walked, and if road wheel is permanently connected into ground, hold very much after permanent
The damage of road wheel is easily caused, thus when robot need not walk, is supported by supporting part so that four road wheels
Ground is left, six sufficient pin are lifted in an initial condition, thus ground is equally left when that need not walk, and can extend machine
The service life of the walking mechanism of people.Supporting part is arranged on the center (certainly extending below lower plywood) of lower plywood 12, can
To ensure the stability of support.
With continued reference to Fig. 1, taking turns sufficient suitching type robot system also includes DC servo motor 6.DC servo electricity, 6 are controlling
It is driven under the control of device 5 processed.DC servo motor 6 can include 18 joints with digital rudder controller and 4 road wheel numbers
Word steering wheel.Each road wheel sets a road wheel with digital rudder controller to drive walking, and each joint of six sufficient pin 2 sets one to close
Save digital rudder controller and carry out drive actions.
Digital rudder controller can for example use model CDS5516 digital rudder controllers.Digital rudder controller uses half-duplex asynchronous serial
Bus communication mode.Signaling interface is equipped with each digital rudder controller.Signaling interface is connected with the digital interface of controller, to connect
Receive control signal.And can concatenate and connect simply by connection between these motors, as long as giving different digital in control
Steering wheel distributes different identification number interfaces and corresponding digital rudder controller is controlled accordingly, so as to the step of control machine people motion
State, speed and direction.
Controller 5 is single-chip microcomputer, and single-chip microcomputer has at least 4 railway digital rudder control interfaces, and the control of the first digital rudder controller connects
Mouth is taken by 4 road wheels with digital rudder controller, and the second digital rudder controller control interface is accounted for by the joint of two front foots with digital rudder controller
With, the 3rd digital rudder controller control interface is taken by the joint of two mesopodiums with digital rudder controller, the 4th digital rudder controller control interface by
The joint of two metapedes is taken with digital rudder controller.In other words, 4 road wheels are connected between digital rudder controller by connection,
A last road wheel of concatenation is connected to the first digital rudder controller control interface of controller with digital rudder controller, believed with receiving control
Number；The joint of two front foots is connected between digital rudder controller by connection, is concatenated a last joint and is connected with digital rudder controller
It is connected to the second digital rudder controller control interface of controller, to receive control signal；Between the joint digital rudder controller of two mesopodiums
Be connected by connection, concatenate a last joint with digital rudder controller be connected to controller the 3rd digital rudder controller control connect
Mouthful, to receive control signal；The joint of two metapedes is connected between digital rudder controller by connection, concatenates a last pass
Save digital rudder controller and be connected to the 4th digital rudder controller control interface of controller, to receive control signal.Each digital rudder controller tool
There is different marks number, each digital rudder controller is received as the control signal of itself according to the mark number that control signal carries.
Preferably, the landing position 21 of every sufficient pin of six sufficient pin is L-shaped, the L-type landing position 21 of every sufficient pin
Transverse part is connected with the joint of its front end, and the vertical part at the L-type landing position 21 of every sufficient pin is partly or entirely bent towards transverse part, vertical part
For floor-type support, the right angle side at the L-type landing position 21 of every sufficient pin is provided towards robot master.That is, L
The vertical part at type landing position 21 is in the trend mutually drawn close towards robot master bending, the landing position 21 of six sufficient pin, is propped up
Support more firm during ground.
Referring to Fig. 3, the present invention also provides a kind of Lun Zu suitching types robot as described in any one in previous embodiment
The control method of system, comprises the following steps：
S1：Under original state, controller control four-wheel travel mechanism moves, and realizes the running on wheels of robot；
S2：In robot moving process, lower photoelectric sensor detects Environment Obstacles thing, if detecting Environment Obstacles thing,
Then simultaneously real-time Transmission gives the controller to corresponding dyspoiesis signal；
S3：Controller controls in response to the obstacle signal and switches to sufficient business concern operating a porters' service to walk, and controls the four-wheel travel mechanism
Stop mobile, described six-legged walking machine structure walking, so that Environment Obstacles thing is crossed over by robot；
S4：Controller controls after robot across obstacle switches back into the movement of four-wheel travel mechanism again.
It is described in further detail with reference to the control method of Fig. 1-3 pairs of sufficient suitching type robot systems of wheel of the invention.
In step sl, robot starts, and original state is running on wheels, and controller 5 controls four-wheel travel mechanism 3 to move
Dynamic, now the joint foot pin of the six of six-legged walking machine structure 2 three is raised out ground, and running on wheels is applied to robot flat
Walking on ground.
Then, in step s 2, during robot running on wheels, lower photoelectric sensor 41 constantly detection walking front
Environment Obstacles thing, the corresponding dyspoiesis signal if Environment Obstacles thing is detected, and obstacle signal is transferred to control in real time
Device 5 processed.
Optionally, when in photoelectric sensor 41 under being set on robot master and upper photoelectric sensor 42, in step S2
In, in robot moving process, lower photoelectric sensor 41 and upper photoelectric sensor 42 detect Environment Obstacles thing simultaneously, if lower light
Electric transducer 41 and/or upper photoelectric sensor 42 detect Environment Obstacles thing, then each corresponding dyspoiesis signal and pass in real time
It is defeated by controller 5.
Then, in step s3, when only setting lower photoelectric sensor 41 on robot master, then controller 5 receives down
The obstacle signal of photoelectric sensor 41, four-wheel travel mechanism 3 is just controlled to stop movement, control six-legged walking machine structure 2 is walked, will
Walking manner switches to sufficient business concern operating a porters' service to walk, so as to across obstacle.
When in photoelectric sensor 41 under being set on robot master and upper photoelectric sensor 42, then in step s3, if
Controller 5 only receives the obstacle signal of lower photoelectric sensor 41, then control switches to sufficient business concern operating a porters' service to walk, if controller 5 connects simultaneously
The obstacle signal of both lower photoelectric sensor 41 and upper photoelectric sensor 42 is received, then controls four-wheel travel mechanism 3 to retreat, turn
It is curved, to avoid Environment Obstacles thing, prevent that barrier is too high and is in the presence of that robot foot business concern operating a porters' service is walked and is difficult to cross over.
Then, in step s 4, if robot switches to sufficient business concern operating a porters' service to walk and after across obstacle, the control weight of controller 5
Newly four-wheel travel mechanism 3 is switched back into move.Range sensor, Distance-sensing can be set in the lower surface of lower plywood 12 of robot
Device senses it to the distance on ground, in small distance on obstacle section, and after leaping over obstacles section, distance becomes big and kept
It is constant, now four-wheel travel mechanism 3 can be switched back into control and moved, to reduce the power consumption of robot system.
In one embodiment, in an initial condition, six three joint foot pin of six-legged walking machine structure 2 are lifted away from ground.
When switching to the sufficient business concern operating a porters' service to walk, controller 5 controls six three joint foot pin supporting descending ground, alternate three on robot master
Three joint foot pin are one group of foot pin, and controller 5 then controls two groups of foot pin alternately lift, stretch out, putting down successively.
It is foregoing that control method other guide on the sufficient suitching type robot system of wheel of the present invention may refer to the present invention
The description content of sufficient suitching type robot system is taken turns, something in common, will not be repeated here.
Although the present invention is disclosed as above with preferred embodiment, it is not for limiting claim, any this area
Technical staff without departing from the spirit and scope of the present invention, can make possible variation and modification, therefore the present invention
Protection domain should be defined by the scope that the claims in the present invention are defined.
Claims (8)
1. one kind takes turns sufficient suitching type robot system, it is characterised in that including：Robot master, six-legged walking machine structure, four-wheel move
Motivation structure, photoelectric sensor, controller；Analyzing rod vertically upward is provided with the robot master；The six foots step
Row mechanism includes six three joint foot pin, and six three joint foot pin uniform intervals surround and are arranged on the robot master
Edge position；The four-wheel travel mechanism includes four road wheels, and four road wheels are separately positioned on the robot master
On be centrosymmetric four positions of disk；The photoelectric sensor includes lower photoelectric sensor, and the lower photoelectric sensor is set
Put on the certain altitude of analyzing rod, to detect Environment Obstacles thing and corresponding dyspoiesis signal in robot moving process
And real-time Transmission gives the controller；The controller controls institute when not receiving the obstacle signal of the lower photoelectric sensor
State six-legged walking machine structure to lift and control the four-wheel travel mechanism to move, the controller is receiving the lower photoelectric transfer
The six-legged walking machine structure is controlled to decline to support ground and control the six-legged walking machine structure row during obstacle signal of sensor
Walk；
The photoelectric sensor is also included to detect Environment Obstacles thing and corresponding dyspoiesis letter in robot moving process
Number and real-time Transmission give the upper photoelectric sensor of the controller, the upper photoelectric sensor is arranged on being higher than for the analyzing rod
The position of the lower photoelectric sensor；The controller controls the four-wheel in the obstacle signal of photoelectric sensor on receiving
Travel mechanism stops mobile or described six-legged walking machine structure and stops walking；
The robot master includes the upper and lower top plate and lower plywood separated by a distance to link together, the top plate and
Lower plywood is in regular hexagon；Four road wheels of the four-wheel travel mechanism are arranged on the lower section of the lower plywood, and described six
Six three joint foot pin of foot walking machine structure are separately positioned on the centre position of top plate each edge；Described in the controller control
When six-legged walking machine structure is walked, alternate three three joint foot pin are one group of foot pin, and two groups of foot pin are controlled alternately to be lifted, stretches successively
Go out, put down.
2. sufficient suitching type robot system is taken turns as claimed in claim 1, it is characterised in that there is scale on the analyzing rod,
The lower photoelectric sensor and upper photoelectric sensor slidable connection are on the analyzing rod and can be locked at the analyzing rod
On.
3. sufficient suitching type robot system is taken turns as claimed in claim 1, it is characterised in that in the lower floor of the robot master
The center of plate is additionally provided with the supporting part that can be stretched up and down, and the supporting part includes the plectane for being contacted with ground and can be upper and lower
Flexible pole, one end of the pole connect the plectane, and the other end connects the lower plywood, and the pole can when extending
Lifting robot master by four-wheel travel mechanism so that be lifted away from ground.
4. sufficient suitching type robot system is taken turns as claimed in claim 1, it is characterised in that also include in the controller
Control under the DC servo motor that drives, the DC servo motor includes 18 to drive each of six three joint foot pin
The joint digital rudder controller in joint, and 4 driving the road wheel digital rudder controller of four road wheels；The controller is single
Piece machine, the single-chip microcomputer have at least 4 railway digital rudder control interfaces, and the first digital rudder controller control interface is used by 4 road wheels
Digital rudder controller is taken, and the second digital rudder controller control interface is taken by the joint of two front foots with digital rudder controller, the 3rd digital rudder controller
Control interface is taken by the joint of two mesopodiums with digital rudder controller, and the 4th digital rudder controller control interface is used by the joint of two metapedes
Digital rudder controller takes.
5. sufficient suitching type robot system is taken turns as claimed in claim 4, it is characterised in that take same digital rudder controller control and connect
It is serially connected between the digital rudder controller of mouth by connection, each digital rudder controller uses half-duplex asynchronous serial bus communication side
Formula, and each digital rudder controller is assigned different steering wheel marks.
6. a kind of control method of the sufficient suitching type robot system of wheel in 1-5 such as claim as described in any one, its feature
It is, comprises the following steps：
S1：Under original state, controller control four-wheel travel mechanism moves, and realizes the running on wheels of robot；
S2：In robot moving process, lower photoelectric sensor detects Environment Obstacles thing, if detecting Environment Obstacles thing, phase
Answer dyspoiesis signal and real-time Transmission is to the controller；
S3：Controller controls in response to the obstacle signal and switches to sufficient business concern operating a porters' service to walk, and controls the four-wheel travel mechanism to stop
Mobile, described six-legged walking machine structure walking, so that Environment Obstacles thing is crossed over by robot；
S4：Controller controls after robot across obstacle switches back into the movement of four-wheel travel mechanism again.
7. the control method of sufficient suitching type robot system is taken turns as claimed in claim 6, it is characterised in that in the step S2
In, in robot moving process, lower photoelectric sensor and upper photoelectric sensor detect Environment Obstacles thing simultaneously, if lower photoelectric transfer
Sensor and/or upper photoelectric sensor detect Environment Obstacles thing, then simultaneously real-time Transmission gives the control to corresponding dyspoiesis signal
Device；In the step S3, controlled if controller only receives the obstacle signal of lower photoelectric sensor and switch to sufficient business concern operating a porters' service to walk,
The four-wheel is controlled to move if controller receives the obstacle signal of both lower photoelectric sensor and upper photoelectric sensor simultaneously
Mechanism retreats, turned, to avoid Environment Obstacles thing.
8. the control method of sufficient suitching type robot system is taken turns as claimed in claim 6, it is characterised in that in original state
Under, six three joint foot pin of six-legged walking machine structure are lifted away from ground；When switching to sufficient business concern operating a porters' service to walk, controller controls six three passes
Sufficient pin supporting descending ground is saved, alternate three three joint foot pin are one group of foot pin, and controller then controls two groups of foot pin successively
Alternating is lifted, stretched out, putting down.
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| CN106474748B (en) * | 2016-08-11 | 2021-07-09 | 河南财政金融学院 | Universal movable toy inner core device |
| CN106740738A (en) * | 2016-11-18 | 2017-05-31 | 云南电网有限责任公司电力科学研究院 | One kind may span across formula detection robot, control method and device |
| CN107856753B (en) * | 2017-11-28 | 2023-06-06 | 华中科技大学 | Tunnel infiltration detection robot based on multisensor fuses |
| CN109079746A (en) * | 2018-11-02 | 2018-12-25 | 中国人民解放军陆军工程大学 | Four-wheel and six-foot deformable practical training robot device and control method |
| CN110076801A (en) * | 2019-05-29 | 2019-08-02 | 桂林电子科技大学 | A kind of full terrain environment exploration platform |
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| JP4482677B2 (en) * | 2005-05-25 | 2010-06-16 | 学校法人千葉工業大学 | Leg wheel separation type robot |
| TWI370796B (en) * | 2009-10-29 | 2012-08-21 | Univ Nat Taiwan | Leg-wheel hybrid mobile platform |
| CN103287523B (en) * | 2013-05-06 | 2015-09-09 | 中国科学技术大学 | The composite deformation mobile robot that a kind of elastic foot is combined with wheel type motion mechanism |
| CN203996532U (en) * | 2014-07-25 | 2014-12-10 | 榆林学院 | A kind of wheel leg type composite machine people |
| CN105150222A (en) * | 2015-10-19 | 2015-12-16 | 南京林业大学 | Bionic six-legged single-arm robot |
| CN105539036A (en) * | 2015-12-17 | 2016-05-04 | 长安大学 | Amphibious robot capable of moving on flat ground with wheels and surmounting obstacles with legs and working method of amphibious robot |
| CN205574096U (en) * | 2016-05-10 | 2016-09-14 | 苏州工业职业技术学院 | Sufficient formula robot system that switches of wheel |
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