CN109795575A - Hexapod robot system and its motion control method for glass curtain wall detection - Google Patents
Hexapod robot system and its motion control method for glass curtain wall detection Download PDFInfo
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Abstract
The present invention discloses a kind of hexapod robot system and its motion control method for glass curtain wall detection, the hexapod robot system includes: hexapod robot ontology, control system, the hexapod robot ontology includes the fuselage main body of regular hexagonal structure, six limbs being actively installed in the fuselage main body, limbs described in every are disposed in series there are four active joint, wherein every acral flexural pivot that passes through is connect with vacuum chuck；The control system is connected with the active joint of each limbs with vacuum chuck by circuit, and the coordinated movement of various economic factors and the suction of vacuum chuck for controlling each limbs are put.The present invention realizes the comprehensive smooth motion of hexapod robot itself, and it has studied hexapod robot and climbs from ground to the gait plan method of vertical wall, gait emulation can be carried out in ROS, human-computer interaction can also be carried out by the visual software of ROS, distribution of machine people control instruction and monitor robotary in real time.
Description
Technical field
The present invention relates to mobile robot fields, more particularly to a kind of hexapod robot system for glass curtain wall detection
The design of system.
Background technique
Either industrial production, hydrospace detection engineering field, or in the fields such as military field, space flight and aviation, moving machine
The figure of device people is seen everywhere, it has great development space.And in many big cities, glass curtain wall is often many large-scale
The external form composition part of building structure.In the past, glass curtain wall safety accident took place frequently, including glass causes people from falling from high altitude
Concern to glass curtain wall security performance.Based on this background, the present invention devises a hexapod robot, it can climb up glass
Glass curtain wall passes through barrier, is adsorbed on glass curtain wall, the detection for glass quality.Multi-foot robot has multiple degrees of freedom,
With very big flexibility and obstacle avoidance ability.This meets the requirement of glass check.
The nineties in last century, Tokyo Polytechnics have developed four-footed climbing robot NINJA-I.Spain's industrial automation
There are three freedom degrees for the every leg of sufficient climbing robot of the six of Research Institute, are used for shipbuilding and maintenance.Michigan is state big
The biped climbing robot CRAWLER for learning exploitation can not only be moved on the wall, but also can be to move on ceiling.It is big at equal shop
Still further developed a kind of four-footed and climb the mountain robot, it can freely creep on various slopes.Movement about hexapod robot
Control and gait planning and its system design, and have great mass of data.
Summary of the invention
For the application of glass curtain wall detection, the present invention proposes a kind of design of hexapod robot, which has negative
Vacuum chuck is pressed, and is attached to each acral, robot can be made to be adsorbed in glass curtain wall.In fact, proposing a kind of efficient
Walking-climbing hexapod robot system.
The present invention adopts the following technical scheme that realization:
A kind of hexapod robot system for glass curtain wall detection includes: hexapod robot ontology, control system, described
Hexapod robot ontology include the fuselage main body of regular hexagonal structure, six limbs being actively installed in the fuselage main body
Body, limbs described in every are disposed in series there are four active joint, wherein every acral by flexural pivot and vacuum
Sucker connection；The control system is connected with the active joint of each limbs with vacuum chuck by circuit, each for controlling
The coordinated movement of various economic factors of limbs and the suction of vacuum chuck are put.
Further, four active joints include sequentially connected hip joint, femoral joint, shin joint, ankle-joint.
Further, the control system includes host computer, slave computer, six four axis IONICUBE mainboards and emergency stops
Button, each four axis IONICUBE mainboard respectively with each active joint circuit connection of corresponding limbs, the four axis IONICUBE
Mainboard and scram button are connected by bus, and the slave computer is connected by USB adapter with bus, are referred to for sending
Enable while controlling the closure in each active joint, vacuum chuck；The host computer is connect with slave computer signal, instructed for transmission,
Receive feedback and display data.
Further, the slave computer uses raspberry pie microcomputer, for equipped with robot operating system ROS and
The microcomputer of Ubuntu (SuSE) Linux OS controls closing for sucker for simple motion control, by STM32
It closes, motor zero adjustment.
Further, simple motion control includes: ON/OFF bus, enabled motor, leg reset, removes mistake
Accidentally, it initializes and the control that empties the cache.
Further, the host computer is one equipped with robot operating system ROS and Ubuntu Linux operation system
The PC machine of system, for sending instruction to the slave computer, receiving feedback and display data, RVIZ human-computer interaction.
Further, by wireless router between the host computer and slave computer, and using logical based on ROS
Letter agreement is attached.
Further, glass is installed on the hexapod robot ontology and detects relevant sensor, for according to reception
The information of feedback judges glass quality.
A kind of walking step state control method of such as hexapod robot system, which is characterized in that comprising steps of
S1: robot initial posture determines；
S2: the ratio between support phase and the time period of motion, the i.e. duty ratio of support phase are determined according to designed gait；
S3: the stride S of the given robot and maximum height H of lift leg；
S4: using trigonometric function interpolation come the track at planning robot's foot end；
S5: driving motor is allowed to go to desired position；
S6: judge whether need to switch gait after motor goes to desired locations, if then returning to step S2；If otherwise continuing
Execute next step；
S7: judging whether the movement of robot at this time has been completed, if then exiting the program, if otherwise according to step S2's
The numerical value of the maximum height H of stride S and lift leg continues to execute step S3.
A kind of climbing gait control method of such as hexapod robot system, comprising steps of
S1: walking-climbing gait initialization；
S2: it runs in the front Work space of wall；
S3: front and back leg closes up；
S4: foreleg is crossed over from ground to wall；
S5: rotation and translation movement；
S6: it strides；
S7: rotation and translation movement；
S8: it strides；
S9: back leg is crossed over from ground to wall；
S10: restore initial posture；
S11: required gait is selected to walk on wall.
Compared with prior art, the beneficial effects of the present invention are:
The every limbs of the hexapod robot that the present invention designs have 4 active joints and 1 vacuum chuck, it is ensured that sucker plane
It is parallel with glass, improve robot stabilization, propose walking three kinds of gait algorithms and climbing algorithm, complete from ground to
Leap on wall, whole process can simulate reality in ROS and monitor in real time in an experiment.
Detailed description of the invention
Fig. 1 (a) -1 (c) is respectively walking-climbing hexapod robot system mechanics structure main view, top view and looks up
Figure.
Fig. 2 is walking-climbing hexapod robot list leg structural schematic diagram.
Linear relationship chart of the Fig. 3 between voltage and pressure.
Fig. 4 is walking-climbing hexapod robot hardware system.
Fig. 5 is the software systems block diagram that walking-climbing hexapod robot are built based on ROS.
Fig. 6 is RVIZ Visual controlling interface in ROS.
Fig. 7 (a) and 7 (b) is respectively walking-climbing hexapod robot hexagon posture and crab shape posture.
Fig. 8 is walking-climbing hexapod robot walking step state planning process schematic diagram.
Fig. 9 is walking-climbing hexapod robot climbing steps flow chart schematic diagram.
Figure 10 (a) -10 (i) is the various walkings of walking-climbing hexapod robot-climbing gait analogous diagram.
In figure: 1- fuselage main body；2- hip joint；3- femoral joint；4- shin joint；5- ankle-joint；6- vacuum chuck.
Specific embodiment
The object of the invention will be described in further detail in the following with reference to the drawings and specific embodiments, and embodiment is not
It can repeat one by one herein, but therefore embodiments of the present invention are not limited to the following examples.
Embodiment 1
As shown in Fig. 1 (a) -1 (c), a kind of hexapod robot system for glass curtain wall detection, comprising: six sufficient machines
Human body, control system, the hexapod robot ontology include the fuselage main body 1 of regular hexagonal structure, are actively installed on institute
State six limbs in fuselage main body, limbs described in every are disposed in series that there are four active joints, wherein every limbs
End passes through flexural pivot and connect with vacuum chuck, so that sucker can be adaptive to glass wall, improves the flexibility of system；It is described
Control system be connected with vacuum chuck 6 with the active joint of each limbs by circuit, for controlling the coordination fortune of each limbs
Dynamic and vacuum chuck suction is put.Glass is installed on the hexapod robot ontology and detects relevant sensor, is connect for basis
The information for receiving feedback judges glass quality.
Its fuselage main body 1 is designed to regular hexagonal (the long 0.18m in side), to reduce the interference between leg.It has 6 limbs
With 6 vacuum chucks.Most of each limbs of hexapod robot only have 3 joints.Described in Fig. 2, six sufficient machines that the present invention designs
There are four active joint and 1 vacuum chucks 6 for the every limbs of device people, and four active joints include sequentially connected hip joint
2, femoral joint 3, shin joint 4, ankle-joint 5.Vacuum chuck 6 can guarantee the safety during climbing.
The addition of ankle-joint 5 can guarantee that sucker plane is parallel with glass, wherein a length of 0.093m of hip joint 2, and femoral joint 3 is long
For 0.14489m, a length of 0.164m in shin joint 4, a length of 0.157m of ankle-joint 5.Hexapod robot weigh about 25 kilograms.In positive reason
Under condition, hexapod robot at least 3 leg supports on wall, it means that according to adsorption capacity equation, mentioned by 3 vacuum chucks 6
The adsorption capacity of confession should be enough to support the weight of robot, the adsorption capacity equation are as follows:
W=(PS)/K
In order to balance the gravity of hexapod robot, there is following equation:
Mg=N μ W
Wherein N is the leg quantity adsorbed on the wall, and K is safety coefficient, under normal conditions K >=2.5.To ensure safety, K is taken
=8.4.Simultaneous above formula, can proper N=5 when P ≈ 43.352Kpa；The P ≈ 54.184Kpa as N=4；The P ≈ as N=3
72.248Kpa.In order to meet the requirements, the present invention uses vacuum pump KVP15-KL, it is possible to provide the peak suction of 80-90KPa.Separately
Outside, it is fed back by using KITA digital pressure sensor KP25.By STM32, voltage and pressure as shown in Figure 3 can be obtained
Linear relationship between power.
In addition, ankle-joint is connect by spherical hinge with vacuum chuck, so that sucker has adaptivity to glass curtain wall.
The control system includes host computer, slave computer, six four axis IONICUBE mainboards and scram buttons, and each four
Axis IONICUBE mainboard respectively with each active joint circuit connection of corresponding limbs, the four axis IONICUBE mainboards and urgency
Stop button to be connected by bus, the slave computer is connected by USB adapter with bus, for sending instruction while controlling
Each active joint, vacuum chuck closure；The host computer is connect with slave computer signal, for send instruction, receive feedback and
Show data.
The slave computer uses raspberry pie microcomputer, for equipped with robot operating system ROS and Ubuntu Linux
The microcomputer of operating system controls closure, the motor zero of vacuum chuck for simple motion control, by STM32
Position adjustment.The simple motion control includes: ON/OFF bus, enabled motor, leg resets, removing is wrong, initialization
With the control that empties the cache.The host computer is one equipped with robot operating system ROS and Ubuntu (SuSE) Linux OS
PC machine, for the slave computer send instruction, receive feedback and display data, RVIZ human-computer interaction.It is described it is described on
By wireless router between position machine and slave computer, and it is attached using the communication protocol based on ROS.
As shown in figure 4, being the whole hardware system block diagram of hexapod robot.The hexapod robot include six four axis
IONICUBE mainboard, each four axis IONICUBE mainboard includes 4 IONI servo-drivers, and each driver is connected to one
Position, speed and torque feedback motor control a joint.Four mainboards are connected with a SM bus.Mainboard is straight using 24V
Power supply power supply is flowed, motor is powered using 48V AC power source.It can be controlled simultaneously with a raspberry pie by a USB adapter
24 motors.The parameter of motor is referring in particular to table 1.
Table 1
| Voltage rating | 48V |
| No-load speed | 10100rpm |
| No-load current | 16.2mA |
| Normal speed | 9020rpm |
| Nominal torque (maximum continuous torque) | 30.3mNm |
| Rated current (maximum continuous current) | 0.687A |
| Stall torque | 294mNm |
| Stall current | 6.5A |
| Maximal efficiency | 89.9% |
It as shown in Figure 5 and Figure 6, is the whole software systems block diagram of robot.In order to realize the reality to different function module
Shi Youxiao management, establishes complete software systems on robot operating system ROS (Robot Operating System).
Information is transmitted by topic between ROS node and service, and in host computer, RVIZ is responsible for the artificial life of six pedal system information
Input and robotary is enabled to show.ROS algorithm node carries out kinematic calculation, and joint angle information is sent to slave computer and is held
Row.Slave computer is a raspberry pie, is responsible for control movement and vacuum chuck.PC machine and raspberry pie use ROS communication protocol, pass through
Wireless router communication.RVIZ is the visualization tool that ROS is provided, it can be achieved that real-time human-computer interaction, including robot control
The transmission of instruction and the display of robotary.
As shown in Fig. 7 (a) -7 (b), three kind gaits of the robot under hexagon posture and crab shape posture are devised.Polypody
It is by the process of supporting leg and rational and orderly alternation of leading leg on the motion essence of robot.According to the duty of support phase
Than the general gait of hexapod robot can be divided into three step states, four step states and five step states.All these movements all ensure that
The smooth variation of joint angle, to avoid the mutation because of motor speed caused by system security risk.
As shown in figure 8, a kind of walking step state control method of such as hexapod robot system, comprising steps of
S1: robot initial posture determines；
S2: the ratio between support phase and the time period of motion, the i.e. duty ratio of support phase are determined according to designed gait；
S3: the stride S of the given robot and maximum height H of lift leg；
S4: using trigonometric function interpolation come the track at planning robot's foot end；
S5: driving motor is allowed to go to desired position；
S6: judge whether need to switch gait after motor goes to desired locations, if then returning to step S2；If otherwise continuing
Execute next step；
S7: judging whether the movement of robot at this time has been completed, if then exiting the program, if otherwise according to the S of step 2
Step 3 is continued to execute with the numerical value of H.
As shown in figure 9, a kind of climbing gait control method of such as hexapod robot system, comprising steps of
S1: walking-climbing gait initialization；
S2: it runs in the front Work space of wall；
S3: front and back leg closes up；
S4: foreleg is crossed over from ground to wall；
S5: rotation and translation movement；
S6: it strides；
S7: rotation and translation movement；
S8: it strides；
S9: back leg is crossed over from ground to wall；
S10: restore initial posture；
S11: required gait is selected to walk on wall.
As shown in Figure 10 (a) -10 (i), hexapod robot can walk a variety of gaits.All gaits can be on ROS
Simulation software Gazebo in emulated.Robot size and weight and actual robot platform phase under simulated environment
Together, the movement in truth can effectively be simulated.Figure 10 (a) -10 (i) shows the emulation in simulation actual environment.In machine
In the practical operation of people, need to consider torque, the velocity and acceleration of motor.In an experiment, in hexapod robot walking process
System is stablized, and operating current and voltage are in the safe range of system.Pressure is provided to simulate to sucker in Gazebo emulation
Actual conditions demonstrate the feasibility of gait plan.In physical machine experiment, we establish the glass perpendicular to ground
Curtain wall, and to ensure safety with steel cable connection robot.In an experiment, vacuum chuck adsorption capacity supports robot enough.It utilizes
Ankle-joint and flexural pivot, vacuum chuck can be parallel to metope close to enabling sucker to be firmly adsorbed on glass, avoid not
Necessary friction.
The present embodiment mainly illustrates that six sufficient walking-climbing robots can be walked with various gaits, and can climb from ground
To vertical wall.The vacuum chuck being connected with ankle-joint can be adsorbed on glass curtain wall, with the weight of balanced robot.Hardware
System is effective, practical, safe.Software systems based on ROS provide real-time and stability.Emulation and physical machine experiment all tables
The bright system performance is good, can satisfy mission requirements.
Robot system architecture of the invention is complicated, in order to realize real-time effective control to each part, in robot
Complete software systems are established in operating system (ROS).Information is passed by topic between node on ROS and service
It is defeated.In host computer, RVIZ can provide effective human-computer interaction, can send control instruction and monitoring robot to robot in real time
State.Algorithm part carries out body movement by ROS node and calculates, and joint angle information is sent to slave computer.It is the next
Machine is a raspberry pie, is responsible for the control of each master diarthrodial motor and vacuum chuck.By wireless between PC machine and raspberry pie
Router is attached using the communication protocol based on ROS.
The above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be to the present invention
Embodiment restriction.For those of ordinary skill in the art, it can also make on the basis of the above description
Other various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all of the invention
Made any modifications, equivalent replacements, and improvements etc., should be included in the protection of the claims in the present invention within spirit and principle
Within the scope of.
Claims (10)
1. a kind of hexapod robot system for glass curtain wall detection characterized by comprising hexapod robot ontology, control
System processed, the hexapod robot ontology include the fuselage main body (1) of regular hexagonal structure, are actively installed on the fuselage master
Six limbs on body, limbs described in every are disposed in series there are four active joint, wherein every acral logical
Flexural pivot is crossed to connect with vacuum chuck；Active joint and vacuum chuck (6) phase of the control system by circuit with each limbs
Connection, the coordinated movement of various economic factors and the suction of vacuum chuck for controlling each limbs are put.
2. hexapod robot system according to claim 1, which is characterized in that four active joints include successively
Hip joint (2), femoral joint (3), shin joint (4), the ankle-joint (5) of connection.
3. hexapod robot system according to claim 1, which is characterized in that the control system include host computer,
Slave computer, six four axis IONICUBE mainboards and scram buttons, each four axis IONICUBE mainboard are each with corresponding limbs respectively
Active joint circuit connection, described four axis IONICUBE mainboards and scram button are connected by bus, the bottom
Machine is connected by USB adapter with bus, for sending the closure for instructing while controlling each active joint, vacuum chuck；It is described
Host computer is connect with slave computer signal, for sending instruction, receiving feedback and display data.
4. hexapod robot system according to claim 1, which is characterized in that the slave computer uses raspberry pie micro electric
Brain is the microcomputer equipped with robot operating system ROS and Ubuntu (SuSE) Linux OS, is used for simple
Motion control, the closure that sucker is controlled by STM32, motor zero adjustment.
5. hexapod robot system according to claim 4, which is characterized in that the simple motion controls packet
Include: ON/OFF bus, enabled motor, leg reset, remove mistake, initializing and the control that empties the cache.
6. hexapod robot system according to claim 3, which is characterized in that the host computer is one equipped with machine
The PC machine of people's operating system ROS and Ubuntu (SuSE) Linux OS, for the slave computer send instruction, receive feedback and
Show data, RVIZ human-computer interaction.
7. hexapod robot system according to claim 3, which is characterized in that the host computer and slave computer it
Between be attached by wireless router, and using the communication protocol based on ROS.
8. hexapod robot system according to claim 1, which is characterized in that be equipped on the hexapod robot ontology
Glass detects relevant sensor, for judging glass quality according to the information for receiving feedback.
9. a kind of walking step state control method of the hexapod robot system as described in any one of claims 1 to 8, feature exist
In, comprising steps of
S1: robot initial posture determines；
S2: the ratio between support phase and the time period of motion, the i.e. duty ratio of support phase are determined according to designed gait；
S3: the stride S of the given robot and maximum height H of lift leg；
S4: using trigonometric function interpolation come the track at planning robot's foot end；
S5: driving motor is allowed to go to desired position；
S6: judge whether need to switch gait after motor goes to desired locations, if then returning to step S2；If otherwise continuing to execute
Next step；
S7: judging whether the movement of robot at this time has been completed, if then exiting the program, if otherwise according to the stride of step S2
The numerical value of the maximum height H of S and lift leg continues to execute step S3.
10. a kind of climbing gait control method of the hexapod robot system as described in any one of claims 1 to 8, feature
It is, comprising steps of
S1: walking-climbing gait initialization；
S2: it runs in the front Work space of wall；
S3: front and back leg closes up；
S4: foreleg is crossed over from ground to wall；
S5: rotation and translation movement；
S6: it strides；
S7: rotation and translation movement；
S8: it strides；
S9: back leg is crossed over from ground to wall；
S10: restore initial posture；
S11: required gait is selected to walk on wall.
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