CN115593531A

CN115593531A - Jumping rolling type six-rod tensioning integral robot

Info

Publication number: CN115593531A
Application number: CN202211497419.3A
Authority: CN
Inventors: 莫继学; 宋伟伟; 孙涛
Original assignee: Peng Cheng Laboratory
Current assignee: Peng Cheng Laboratory
Priority date: 2022-11-28
Filing date: 2022-11-28
Publication date: 2023-01-13
Anticipated expiration: 2042-11-28
Also published as: CN115593531B

Abstract

The invention discloses a jumping rolling type six-rod tensioning integral robot and a control method thereof, wherein the robot comprises three rigid rod piece groups and 24 elastic cables, each rigid rod piece group comprises two rigid rod pieces which are parallel to each other, four elastic cables are led out from two end points of each rigid rod piece, and the four elastic cables corresponding to each end point are respectively connected with the four end points which are closest to the rigid rod piece; the rigid rod member includes: a rod body connected with the elastic cable and having a central hole; the two jacking devices are distributed at two ends of the rod body, and at least part of the two jacking devices is positioned in the central hole; the main control device is arranged in the central hole and is respectively connected with the two jacking devices; the main control device is used for controlling the part of the jacking device to extend out of the central hole to jack the ground or to be completely retracted into the central hole, so that jumping or rolling motion is realized, the robot can cross the obstacle through jumping motion, and the obstacle crossing capability of the robot is improved.

Description

Jumping rolling type six-rod tensioning integral robot

Technical Field

The invention relates to the technical field of robots, in particular to a jumping rolling type six-rod tensioning integral robot.

Background

With the advance and development of mobile robot technology, in order to meet the increasing urgent tasks in complex terrain environments such as disaster search and rescue, environmental exploration, space exploration and the like, a mobile robot needs to have stronger terrain adaptability, efficient motion mode and autonomous motion capability. With the miniaturization trend of mobile robots, the terrain environment has more and more restrictions on the movement of the robots: the wheel type or crawler type rescue robot is difficult to cross obstacles with the size being several times that of the robot, although the crawling robot has relatively strong capability of crossing the obstacles, the structure is complex, and a large number of driving parts make a mechanism and a control system complex, so that the practical application of the crawling robot is limited. The jumping robot generally has the characteristics of simple and reliable structure, good maneuverability and capability of easily crossing obstacles with the size several times of the jumping robot, so that the jumping robot has wider range of motion and stronger environment adaptability, and is more suitable for being applied to the aspects of environment detection and the like.

For this reason, the tensioning integral robot has attracted research interest of numerous scholars in the robot field in recent years; the rod or the rope which drives the whole tensioning structure can move according to a certain rule, and the whole tensioning structure is applied to the robot, so that the robot has the advantages over the traditional robot: because the structure is not rigidly connected, a lever arm is not used for increasing the force, the force can be redistributed according to the topological structure when the load and the collision face, and the stress concentration is avoided to ensure that the structure is not damaged; the structure has high redundancy, the integral structure is still effective when a single component is damaged, and the fault-tolerant capability is good; the absence of bending or shear allows for efficient use of materials, making the system light and robust; in addition to this, it has space saving properties since it is foldable itself. The tensioning integral robot has important research significance due to a plurality of advantages.

However, most of the existing tensioning whole robots can only realize a moving mode of rolling motion, so that the robots have limited capacity of overcoming large-size obstacles. Therefore, the integral tensioning robot with the rolling function and the efficient bouncing function can be developed, the movement capability and the environment adaptability of the robot can be obviously improved, and the robot has strong necessity.

Accordingly, there is a need for improvements and developments in the art.

Disclosure of Invention

The invention aims to solve the technical problem of providing a jumping rolling type six-rod tensioning integral robot and a control method thereof aiming at improving the obstacle crossing capability of the robot.

The technical scheme adopted by the invention for solving the technical problem is as follows:

a jumping and rolling type six-rod tensioning integrated robot comprises three rigid rod sets and 24 elastic cables, wherein each rigid rod set comprises two rigid rod pieces which are parallel to each other, four elastic cables are led out from two end points of each rigid rod piece, and the four elastic cables corresponding to each end point are respectively connected with the four end points which are closest to the rigid rod piece, wherein the rigid rod pieces comprise:

a rod body connected with the elastic cable and having a central hole;

the two jacking devices are distributed at two ends of the rod body, and at least part of the two jacking devices is positioned in the central hole;

the main control device is arranged in the central hole and is respectively connected with the two jacking devices; the main control device is used for controlling the part of the jacking device to extend out of the central hole so as to jack the ground, or to be completely retracted into the central hole.

Six pole stretch-draw monolith robots of jump roll formula, wherein, the top holds the device and includes:

the sleeve is in clearance fit with the central hole;

the memory alloy spring is positioned in the sleeve and is connected with the main control device;

the outer end part of the memory alloy spring is connected with the sleeve; when the memory alloy spring extends, the sleeve part extends out of the central hole and props against the ground.

Six pole stretch-draw monolith robots of jump roll formula, wherein, master control set includes:

the microcontroller is arranged in the central hole;

the two electronic switches are arranged in the central hole and respectively face to two ends of the rod piece body; the two electronic switches are respectively connected with the two jacking devices in a one-to-one correspondence manner and are both connected with the microcontroller.

Six pole stretch-draw whole robots of jump roll formula, wherein, the both ends of member body all are provided with induction system, induction system with master control set connects for to when touching to the ground send the sensing signal to master control set.

A control method of a jumping and rolling type six-rod tensioning whole robot comprises the following steps:

the main control device receives the operation instruction and acquires the motion type and the target point coordinate carried by the operation instruction; wherein the motion types include a jumping motion and a scrolling motion;

when the motion type is jumping motion, judging whether two end points of three end points touching the ground currently of the robot belong to the same rigid rod set or not;

if yes, continuing to judge the direction of the target point relative to the robot; wherein the azimuth comprises a lateral front and a frontal front;

when the target point is positioned in front of the side of the robot, controlling the robot to execute a plurality of single-time inclined jumping motions until the target point is positioned in front of the robot;

and controlling the robot to execute a plurality of single straight line jumping motions, and acquiring the barycenter coordinates of the robot after each single straight line jumping motion until the barycenter coordinates coincide with the target point coordinates.

The control method may further include:

calculating and judging whether the distances between the two end points and the target point are equal or not;

when equal, the target point is directly in front of the robot;

when not equal, the target point is in front of the side of the robot.

The control method, wherein the controlling the robot to perform a plurality of single tilt jump motions until the target point is directly in front of the robot specifically comprises:

comparing the distances between the two end points and the target point;

controlling the jacking devices corresponding to the two end points to extend out, wherein the length of the jacking device corresponding to the end point closer to the target point is smaller than the length of the jacking device corresponding to the end point farther from the target point;

when the robot is separated from the ground, the two jacking devices are controlled to retract until the robot touches the ground, and one single inclined jumping motion is executed;

and continuing to execute a plurality of single tilt jump motions until the distances between the two end points and the target point are equal.

The control method comprises the following steps of controlling the robot to execute a plurality of single straight line jumping motions:

controlling the supporting devices corresponding to the two end points to extend out, wherein the extending lengths of the two supporting devices are equal;

and when the robot is separated from the ground, the two jacking devices are controlled to retract until the robot touches the ground, and one straight line jumping motion is executed.

The control method further comprises the following steps:

when the motion type is rolling motion, selecting a rolling edge from three edges of the touchdown triangle according to a shortest path principle;

controlling the robot to execute a single rolling motion by taking the end point corresponding to the rolling edge as a driving end point;

acquiring a centroid coordinate of the robot, and judging whether the centroid coordinate is coincident with a target point coordinate;

and when the coordinates are not coincident, controlling the robot to continuously execute a plurality of single rolling motions until the coordinates of the mass center are coincident with the coordinates of the target point.

The control method, wherein the controlling the robot to execute a single rolling motion by using the endpoint corresponding to the rolling edge as a driving endpoint specifically includes:

taking the end point corresponding to the rolling edge as a driving end point, and controlling the jacking device corresponding to the driving end point to extend out and jack the ground;

and after the jacking device is separated from the ground, the jacking device is controlled to retract until the three end points touch the ground simultaneously, and one single rolling motion is executed.

Has the advantages that: in the invention, the main control device controls the corresponding jacking device to extend out, so that the rolling motion/jumping motion of the robot can be realized; compared with the prior art, the jumping rolling type six-rod tensioning integral robot can realize rolling motion and jumping motion; when the robot meets an obstacle, the main control device can control the robot to cross the obstacle by adopting jumping motion, so that the obstacle crossing capability of the robot is greatly improved.

Drawings

FIG. 1 is a first view of a jump roll type six bar tensioned monolithic robot according to the present invention;

FIG. 2 is a second view of the skip rolling six bar tensioned monolithic robot of the present invention;

FIG. 3 is a schematic view showing the internal structure of the rigid rod member according to the present invention;

FIG. 4 is a schematic diagram of a first state of the robot when the touchdown triangle Δ ABC is of the TO type according TO the present invention;

FIG. 5 is a schematic diagram of the present invention showing the robot performing a single rolling motion with the triangle Δ ABC as the TO type, side AB as the rolling side, and point C as the driving end point;

FIG. 6 is a schematic diagram of the state of the robot after the robot performs a single rolling motion with the side AB as the rolling side and the point C as the driving end point, wherein the triangle Δ ABC of the current touchdown is of the type TO;

FIG. 7 is a schematic diagram of the present invention robot in a state of performing a single rolling motion with AC side as the rolling side and B point as the driving end point, when triangle Δ ABC is TO type;

FIG. 8 is a schematic diagram of the present invention showing the robot in a state after a single rolling motion is completed with the AC side as the rolling side and the B point as the driving end point, wherein triangle Δ ABC is of the TO type;

FIG. 9 is a schematic diagram of the present invention robot in a state where triangle Δ ABC is TC type;

FIG. 10 is a schematic diagram of the present invention showing the robot performing a single rolling motion with the triangle Δ ABC as TC type, AB as the rolling side, and C as the driving end point;

FIG. 11 is a schematic diagram of the present invention showing the robot in a state after completing a single rolling motion with the triangle Δ ABC as TC type, AB as the rolling side, and C as the driving end point;

FIG. 12 is a schematic diagram of a second state of the robot when the present touchdown triangle Δ ABC is of the TO type in the present invention;

fig. 13 is a schematic view of the robot in the present invention in a state where the triangle Δ ABC for touchdown is of the type TO and a single jumping motion is performed;

FIG. 14 is a schematic diagram showing the change of the position of the center of mass of the robot after the robot performs a single tilt jump movement in the present invention;

FIG. 15 is a schematic diagram showing the change of the position of the center of mass of the robot after the robot performs a single linear jumping motion;

FIG. 16 is a functional block diagram of the jump rolling type six-bar tensegrity robot of the present invention;

FIG. 17 is a flowchart of a method of controlling the jump roll type six bar stretch-draw integrated robot according to the present invention;

fig. 18 is a relative orientation relationship between the robot and the target point in the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The invention provides a jumping rolling type six-rod tensioning integrated robot, which comprises three rigid rod sets and 24 elastic cables 2, wherein each rigid rod set comprises two rigid rods which are parallel to each other, namely 6 rigid rods in total, and every two rigid rod sets form one rigid rod set (as shown in fig. 1, the rigid rods 1-1 and 1-2 belong to the same rigid rod set, the rigid rods 1-3 and 1-4 belong to the same rigid rod set, and the rigid rods 1-5 and 1-6 belong to the same rigid rod set); any two rigid rod sets are perpendicular to each other. Each rigid rod piece is provided with two end points along the length direction, four elastic ropes 2 are led out from each end point, and the four elastic ropes 2 corresponding to each end point are respectively connected with the four end points closest to the end point. Any two end points of the two rigid rods belonging to the same rigid rod group are not connected through the elastic rope 2.

The jumping rolling type six-rod tensioning integral robot belongs to a twenty-tetrahedron structure, and the surface of the robot is triangular; and when the robot is placed on the ground, there are three endpoints touching the ground simultaneously.

The rigid rod member includes: a rod body 3, two jacking devices 4 and a main control device 5. The end part of the rod body 3 is fixedly connected with the elastic cable 2, so that when the robot moves, as shown in fig. 7 and 13, the connecting point position of the elastic cable 2 and the rod body 3 is unchanged, the overall structure of the robot is guaranteed not to be greatly changed, the basic appearance shape of the robot is kept, and the phenomenon that the robot is not stable and easy to roll after falling to the ground due to large deformation in the moving process is avoided.

The rod body 3 is cylindrical, and the rod body 3 has a central hole, which is arranged to penetrate through the rod body 3 in the axial direction. Two supporting devices 4 are respectively arranged at two ends of the rod body 3, and each supporting device 4 is at least partially positioned in the central hole.

The main control device 5 is arranged in the central hole and is positioned between the two jacking devices 4; the main control device 5 is respectively connected with the two jacking devices 4. The main control device 5 is used for controlling the jacking device 4 to partially extend out of the central hole to jack the ground or completely retract into the central hole. Specifically, the main control device 5 controls each of the supporting devices 4 independently, and when all the supporting devices 4 retract into the central hole, the robot is in a state of touching the ground and being stationary; when the main control device 5 controls the jacking device 4 corresponding to any one of the three touchdown endpoints to extend out of the central hole and jack the ground, the robot can roll towards the direction opposite to the endpoint; in the rolling process, when the jacking device 4 is separated from the ground, the main control device 5 controls the jacking device 4 to be completely retracted into the central hole until three endpoints touch the ground simultaneously again, a single rolling motion is completed, and two endpoints of the three endpoints touching the ground at this time are superposed with two endpoints of the three endpoints touching the ground at the last time. Similarly, the robot can continuously execute a plurality of single rolling motions to realize continuous rolling.

When two end points of three end points of the robot touching the ground belong to the same rigid rod group, the main control device 5 controls the jacking devices 4 corresponding to the two end points to extend out of the central hole and jack the ground, and then the robot executes jumping motion; in the jumping process, when the supporting devices 4 corresponding to the two end points are separated from the ground, the main control device 5 controls the two supporting devices 4 to be completely retracted into the central hole until the three end points touch the ground again, and one single jumping motion is executed. Similarly, the robot can continuously execute a plurality of single jumping motions to realize continuous jumping.

Therefore, in the invention, the main control device 5 controls the corresponding jacking device 4 to extend out, so that the rolling motion/jumping motion of the robot can be realized; compared with the prior art, the jumping rolling type six-rod tensioning integral robot can realize rolling motion and jumping motion; when the robot meets an obstacle, the main control device 5 can control the robot to cross the obstacle by adopting jumping motion, so that the obstacle crossing capability of the robot is greatly improved.

As shown in fig. 3, the supporting device 4 includes a sleeve 41 and a memory alloy spring 42; the elastic deformation direction of the memory alloy spring 42 is overlapped with the axial direction of the rod body 3; the memory alloy spring 42 is positioned in the sleeve 41, one end of the memory alloy spring 42 is connected with the main control device 5, and the other end of the memory alloy spring is arranged outwards and connected with the sleeve 41; the sleeve 41 is a clearance fit with the central bore.

When the main control device 5 supplies power to the memory alloy spring 42, the memory alloy spring 42 may be heated to reach a phase transition temperature and rapidly extend in a power-on state, so as to generate a pushing force on the sleeve 41, so as to push the sleeve 41 to partially extend out of the central hole along the axial direction of the rod body 3 and to prop against the ground (as shown in fig. 7 and 13); when the power of the memory alloy spring 42 is cut off, the temperature of the memory alloy spring is reduced to be lower than the phase transition temperature, the length of the memory alloy spring is recovered to be the original length, the sleeve 41 and the memory alloy spring 42 are integrally and completely retracted into the central hole along the axial direction of the rod body 3, and the sleeve 41 cannot be in contact with the ground.

The two ends of the rod body 3 are both provided with induction devices 9, and the induction devices 9 are connected with the main control device 5 and used for sending induction signals to the main control device 5 when touching the ground. Specifically, two sensing devices 9 are sequentially arranged at two ends of the rod body 3 along the axial direction of the rod body 3, so as to ensure that no matter which end point of the rod body 3 touches the ground, the sensing device 9 corresponding to the end point necessarily touches the ground and sends a sensing signal to the main control device 5. The main control device 5 can judge the touch of the robot and judge the touch end point of the robot through the received induction signal.

As shown in fig. 3, the sleeve 41 is provided with a tip structure 6 at the outer end in the axial direction, the tip structure 6 is conical, and the large-diameter end of the tip structure 6 is connected with the sleeve 41; when the robot touches the ground and the memory alloy spring 42 corresponding to the touch endpoint is in a power-off state, the tip structure 6 corresponding to the touch endpoint and the sensing device 9 both touch the ground, so that the rod body 3, the tip structure 6 and the ground form a triangle, the stability of the robot touching the ground is improved, and the robot is prevented from continuously rolling or bouncing due to inertia after rolling touch the ground or jumping touch the ground.

As shown in fig. 3, a position-limiting boss 7 is disposed in the central hole corresponding to each memory alloy spring 42, that is, two position-limiting bosses 7 are disposed in the central hole of each rod body 3, and the two position-limiting bosses 7 correspond to the two memory alloy springs 42 one by one. Specifically, the limiting boss 7 is located at one end of the memory alloy spring 42, which is far away from the sleeve 41 along the circumferential direction, and is connected with the memory alloy spring 42, so that the memory alloy spring 42 is positioned and limited, the memory alloy spring 42 can be retracted to the original position after being powered off, and the sleeve 41 can be ejected out of the central hole after being recharged.

In an embodiment of the present invention, the sensing device 9 includes a film pressure sensor.

In an embodiment of the present invention, the sleeve 41 is flush with the end surface of the rod body 3, so as to ensure that when the electronic switch 52 is turned on, one end of the corresponding memory alloy spring 42, which is far away from the limiting boss 7, extends outward, and the sleeve 41 can be ejected out of the central hole by the memory alloy spring 42 and is ejected to the ground.

The master control device 5 comprises a microcontroller 51 and two electronic switches 52; the microcontroller 51 is arranged in the central hole; two electronic switches 52 are disposed in the central hole and respectively arranged toward two ends of the rod body 3. The two electronic switches 52 are connected with the two jacking devices 4 in a one-to-one correspondence manner, and both the two electronic switches 52 are connected with the microcontroller 51, so that the microcontroller 51 controls the two electronic switches 52 to be turned on and off, thereby realizing the extension and retraction of the two jacking devices 4.

Specifically, as shown in fig. 16, the electronic switch 52 is respectively connected to the microcontroller 51 and the corresponding memory alloy spring 42; when the microcontroller 51 controls the electronic switch 52 to be turned on, the memory alloy spring 42 connected with the electronic switch is extended and pushes the sleeve 41 to partially extend out of the central hole and prop against the ground, so that the sleeve 41 pushes the corresponding end point of the rod body 3 away from the ground, and the robot is subjected to rolling moment; when two end points belonging to the same rigid rod group are simultaneously pushed away from the ground, the robot is subjected to a jumping moment. When the electronic switch 52 is turned off, the temperature of the memory alloy spring 42 connected with the electronic switch is reduced to be below the phase transition temperature, the length of the memory alloy spring 42 is gradually restored to the original length, and then the sleeve 41 retracts into the central hole.

A power supply 8 is also disposed in the central hole, as shown in fig. 3 and 16, and the power supply 8 is connected to the microcontroller 51 to supply power to the microcontroller 51.

The limiting boss 7 is annular, and a central hole of the limiting boss 7 is used for a connecting wire to pass through; wherein, two ends of the connecting wire are respectively connected with the memory alloy spring 42 and the electronic switch 52.

Based on the jumping and rolling type six-rod tensioning whole robot, the invention also provides a control method of the jumping and rolling type six-rod tensioning whole robot, as shown in fig. 17, the control method comprises the following steps:

s100, the master control device receives an operation instruction and obtains a motion type and a target point coordinate carried by the operation instruction; wherein the motion types include a jumping motion and a scrolling motion;

the invention also provides an instruction input port, which is connected with the main control device 5 to send the operation instruction input by the user to the main control device 5; specifically, the instruction input port is connected to the microcontroller 51. The operation instruction comprises a motion type and target point coordinates, and specifically, the motion type comprises a jumping motion and a rolling motion; the target point coordinates are three-dimensional coordinates including an X-axis coordinate, a Y-axis coordinate and a Z-axis coordinate.

After receiving an operation instruction input by a user, the main control device 5 obtains a motion type of a motion that the user wants the robot to execute and a target point coordinate reached after the motion, that is, the user wants the robot to move to a target point in a jumping manner or move to the target point in a rolling manner.

S200, when the motion type is jumping motion, judging whether two end points of three end points of the robot which touch the ground currently belong to the same rigid rod set or not;

the present invention adopts the existing motion capture system to obtain the coordinates (three-dimensional coordinates) of the two end points of each rod body 3; specifically, the main control device 5 is wirelessly connected with the motion capture system, and label stickers are pasted at two ends of each rod body 3, and the label stickers are used for playing a role of identification so as to facilitate the motion capture system to capture the end point position of the rod body 3, so that in the environment of the motion capture system, the robot is communicated with the motion capture system, so that the coordinate of the end point of each rod body 3 is obtained, and the centroid coordinate of the robot can be calculated according to the coordinate of the end point of each rod body 3.

When the main control device 5 judges that the motion type carried by the operation instruction is jumping motion, judging the type of the current triangle which contacts the ground of the robot; the state of the robot touchdown triangle comprises a TO type (shown in fig. 4 and 12) and a TC type (shown in fig. 9), wherein the TO type indicates that the touchdown triangle is an open triangle, namely two of three touchdown endpoints belong TO the same rigid rod group; the TC type represents that the ground contact triangle is a closed triangle, namely three endpoints of ground contact respectively belong to three different rigid rod sets; the robot performs the jumping motion only when the type of the triangle currently touchdown is the TO type.

S300, if yes, judging the direction of the target point relative to the robot; wherein the azimuth comprises a lateral front and a frontal front;

the main control device 5 further needs to determine a relative position relationship between the target point and the robot, where the position includes a front and a side front, that is, the target point is located in the front of the robot or in the side front of the robot.

It should be noted that the target point in the present invention is a point that the center of mass of the robot can reach after a plurality of single execution jumping motions or a plurality of single rolling motions of the robot; and, when the robot performs the jumping motion, the target points need to satisfy: the target point is located in front (directly in front or laterally in front) of the robot. As shown in fig. 18, the definition of the target point in front of the robot is: in three end points a, b and c of the robot, the end point a and the end point b belong to the same rigid rod group, and the target point E is positioned on one side, close to the end point c, of a straight line where the ab side is positioned in the touchdown triangle delta abc.

Specifically, the step S300 of determining the orientation of the target point relative to the robot specifically includes:

s301, respectively calculating the distances between the two end points and the target point according to the coordinates of the two end points and the coordinates of the target point, and judging whether the distances between the two end points and the target point are equal;

s302, when the target point is equal, the target point is positioned right in front of the robot;

and S303, when the target points are not equal, the target points are positioned in front of the side of the robot.

S400, when the target point is positioned in front of the side of the robot, controlling the robot to execute a plurality of single-time inclined jumping motions until the target point is positioned in front of the robot;

when the target point is positioned in front of the side of the robot, the robot is controlled to execute the inclined jumping motion so as to change the relative azimuth relationship between the robot and the target point and achieve the aim that the target point is positioned right in front of the robot. Specifically, the robot is controlled to execute a single inclined jumping movement, the relative azimuth relationship between the target point and the robot is recalculated after the single jumping movement is completed, if the target point is still in front of the side of the robot, the robot is controlled to continue executing the single jumping movement, and the process is repeated until the distances between the two end points and the target point are equal, and the target point is in front of the robot.

The step S400 of controlling the robot to perform a plurality of single tilt jump motions until the target point is located right in front of the robot specifically includes:

s401, comparing the distances between the two end points and a target point;

s402, the jacking devices corresponding to the two end points are controlled to extend out, and the length of the jacking device corresponding to the end point closer to the target point is smaller than the length of the jacking device corresponding to the end point farther from the target point;

specifically, when the robot performs a single inclined jumping movement, the electronic switches 52 corresponding to the two end points are both turned on, the sleeves 41 corresponding to the two end points need to extend out of the central hole and prop against the ground, and there is a difference between the current parameters obtained by the memory alloy springs 42 corresponding to the two end points. In an embodiment of the present invention, the current parameter is voltage, the length of the memory alloy spring 42 extending from the current parameter is small, the length of the memory alloy spring 42 extending from the current parameter is large, and the robot may tilt toward the memory alloy spring 42 having a small extending length during jumping.

Because the distances between the two endpoints and the target point are unequal, one endpoint is inevitably closer to the target point and the other endpoint is inevitably farther from the target point; the voltage obtained by the memory alloy spring 42 corresponding to the end point closer to the target point is less than the voltage obtained by the memory alloy spring 42 corresponding to the end point farther from the target point, so that the robot inclines towards the end point closer to the target point in the jumping process, and a single-time inclined jumping movement of the robot is realized.

Note that, as shown in fig. 12 and 13, when the robot performs a jumping motion, three end points per touchdown are not changed (arrows in fig. 13 indicate a direction in which the robot jumps with respect to the ground); when the robot performs one single jump motion, the state of the robot is as shown in fig. 12.

S403, after the robot is separated from the ground, controlling the two jacking devices to retract until the robot touches the ground, and completing one single inclined jumping motion;

when the robot is separated from the ground, especially when the sleeves 41 corresponding to the two end points are separated from the ground, the main control device 5 controls the two electronic switches 52 to be turned off, the two memory alloy springs 42 recover to the original length, and the two corresponding sleeves 41 retract into the central hole, so that the sleeves 41 are prevented from generating bad interference on the falling of the robot. When the robot again touches down the ground, a single tilt jump motion is performed.

And S404, continuously executing a plurality of single-time inclined jumping motions until the distances between the two end points and the target point are equal.

Specifically, after each single tilt jump motion is executed, the distance between the two end points and the target point is calculated again to determine whether to adjust the robot to a position right behind the target point. And after the main control device 5 controls the robot to perform a single-time inclined jumping movement, the robot is continuously controlled to perform a plurality of single-time inclined jumping movements until the distances between the two end points and the target point are equal, and the target point is positioned right in front of the robot.

And S500, controlling the robot to execute a plurality of single straight jumping motions, and acquiring the centroid coordinate of the robot after each single straight jumping motion until the centroid coordinate coincides with the coordinate of the target point.

When the robot performs a plurality of inclined jumping motions and is adjusted to be positioned right ahead of a target point, the robot is controlled to perform a plurality of single linear jumping motions, so that the robot jumps right ahead along a straight line; acquiring the mass center coordinate of the robot once after each single linear jumping motion is finished, so as to judge whether the mass center coordinate is coincided with the target point coordinate; when the centroid coordinates coincide with the target point coordinates, the robot reaches the target point.

In step S500, controlling the robot to perform a plurality of single linear jumping motions specifically includes:

s501, controlling the supporting devices corresponding to the two end points to extend out, wherein the extending lengths of the two supporting devices are equal;

specifically, the memory alloy springs 42 corresponding to the two end points are controlled to extend, the corresponding sleeves 41 extend out of the central hole and prop against the ground, and the voltages applied to the memory alloy springs 42 corresponding to the two end points by the two electronic switches 52 are equal, so that the lengths of the extensions of the memory alloy springs 42 corresponding to the two end points are equal, and the lengths of the extensions of the two propping devices 4 corresponding to the two end points are equal.

And S502, after the robot is separated from the ground, controlling the two jacking devices to retract until the robot touches the ground, and executing a single linear jumping motion.

When the robot is separated from the ground, especially when the sleeves 41 corresponding to the two end points are separated from the ground, the main control device 5 controls the two electronic switches 52 to be turned off, the two memory alloy springs 42 recover to the original length, and the two corresponding sleeves 41 retract into the central hole, so that the sleeves 41 are prevented from generating bad interference on the falling of the robot. When the robot again touches down the ground, a single straight jump motion is performed.

Therefore, the jumping rolling type six-rod tensioning whole robot can travel on a common road or a rugged road by adopting continuous jumping motion, and overcome large-scale obstacles by adopting single high-performance jumping motion. The single jumping height of the continuous jumping motion is relatively small, about 0.5-1 times of the maximum size of the continuous jumping motion, and the jumping frequency is relatively high; whereas the jump height of a single high performance jump is relatively high, about 1 times its own maximum size.

Specifically, as shown in fig. 12, 14, and 15, the robot performs the oblique jumping motion and the linear jumping motion by taking the current touchdown triangle of the robot as Δ ABC, the end points corresponding to the point a and the point C belong to the same rigid rod group, the target point input by the user is E, and the centroid position of the current robot is M:

as shown in fig. 14, the inclination in the inclination jumping motion according to the present invention means: a connecting line NM between centroids N and M after the robot performs a single inclined jumping movement inclines relative to a connecting line ME, namely an included angle a is formed between MN and ME. As shown in fig. 15, the straight line in the straight jumping motion according to the present invention refers to: and the connecting line NM between the centroids N and M and the connecting line ME between the centroids M and N coincide after the robot performs a single inclined jumping motion.

The difference between the oblique jumping motion and the straight jumping motion in the present invention is: the oblique jumping motion means that the trajectory of the robot jumping motion toward the target point is a curved line, and the straight jumping motion means that the trajectory of the robot jumping motion toward the target point is a straight line. When the target point is positioned right in front of the robot, the track of the robot jumping to the target point is a straight line; when the target point is in front of the side of the robot, the robot jumps to the target point, and the track of the target point includes two types: curve first and straight line later.

The control method further comprises the steps of:

when the main control device judges that the motion type in the operation instruction input by the user is rolling motion, selecting a rolling edge from three edges of the grounding triangle according to the principle of the shortest path;

specifically, when the motion type is a scroll motion, it is not necessary TO determine the triangle type of the robot touchdown, i.e., the robot can perform the scroll motion regardless of whether the triangle of the robot touchdown is the TC type or the TO type. When the motion type is rolling motion, the main control device 5 selects a rolling edge from three edges of a triangle where the robot touches the ground according to a shortest path principle. The contact surface of the robot is triangular and has three sides, so that the robot can roll towards the direction of any one of the three sides when rolling, and the shortest path means that the distance between the centroid and the target point of the robot is the minimum after the robot rolls towards the direction of any one of the three sides.

As shown in fig. 4-11, the robot touchdown triangle is Δ ABC, which has three sides AB, BC, and AC; fig. 4-6 are schematic diagrams of the robot performing a single rolling motion with AB side as the rolling side and C point as the driving end point when the touchdown triangle Δ ABC of the robot is of the TO type (the arrow in fig. 5 indicates the rolling direction of the robot); fig. 4, 7 and 8 are schematic diagrams of the robot performing a single rolling motion with AC side as a rolling side and point B as a driving end point when the touchdown triangle Δ ABC of the robot is of a TO type (an arrow in fig. 7 indicates a rolling direction of the robot); fig. 9-11 are schematic diagrams of the robot performing a single rolling motion with the side AB as the rolling side and the point C as the driving end point when the touchdown triangle Δ ABC of the robot is of the TC type (the arrow in fig. 10 indicates the rolling direction of the robot).

When the robot rolls, the robot can roll towards three directions of AB, BC and AC; and after the robot rolls in the three directions and touches the ground stably, the path direction with the centroid closest to the target point is the shortest path.

The selecting of the rolling edge from the three edges of the touchdown triangle according to the shortest path principle specifically includes:

respectively taking three sides of the touchdown triangle as alternative rolling sides, and calculating the mass center coordinate of the robot after the robot executes a single rolling motion to obtain three mass center coordinates;

specifically, as shown in fig. 4 or 9, the touchdown triangle of the robot is Δ ABC, and the centroid coordinate of the robot after rolling with the side AB as the candidate rolling side and the point C as the driving endpoint, the centroid coordinate of the robot after rolling with the side BC as the candidate rolling side and the point a as the driving endpoint, and the centroid coordinate of the robot after rolling with the side AC as the candidate rolling side and the point B as the driving endpoint are calculated, respectively, so as to obtain three centroid coordinates.

Respectively calculating and comparing the distances between the three centroid coordinates and the coordinates of the target point;

and selecting the alternative rolling edge corresponding to the centroid coordinate which is shortest from the target point as the rolling edge.

After the rolling edge is selected according to the shortest path principle, the end point corresponding to the rolling edge is taken as a driving end point, and the robot is controlled to execute a single rolling motion;

the controlling the robot to execute a single rolling motion by using the end point corresponding to the rolling edge as a driving end point specifically comprises:

that is, the end point corresponding to the rolling edge is determined as the driving end point, and if the robot touchdown triangle in fig. 5 and 10 is Δ ABC and the rolling edge is the side AB, the driving end point is the point C. And controlling the electronic switch 52 corresponding to the point C to be turned on by taking the point C as a driving end point, extending the memory alloy spring 42 corresponding to the point C, extending the corresponding sleeve 41 out of the central hole and propping against the ground, and rolling the robot towards the AB side direction.

4-6 are schematic diagrams of the robot controlling the robot TO execute a single rolling motion with the touchdown triangle at the TO state, the AB side as the rolling side and the C point as the driving end point; fig. 9-11 are schematic diagrams illustrating the touchdown triangle being in the TC state, and using the AB side as the rolling side and the C point as the driving end point, controlling the robot to execute a single rolling motion.

And after the jacking device 4 is separated from the ground, controlling the jacking device 4 to retract until the three end points touch the ground simultaneously, and finishing one single rolling motion.

Specifically, as shown in fig. 7, the sleeve 41 corresponding to point B supports against the ground, after the robot rolls until the sleeve 41 is separated from the ground, the electronic switch 52 corresponding to point B is closed, the memory alloy spring 42 corresponding to point B recovers to the original length, and the sleeve 41 retracts into the central hole; until the robot has three end points to touch down simultaneously again, and as shown in fig. 8, the three end points to touch down include points a and C, and one single scroll motion execution is completed.

After one single rolling motion is executed, acquiring a centroid coordinate of the robot, and judging whether the centroid coordinate is superposed with a target point coordinate;

and when the coordinates are not coincident, controlling the robot to continuously execute a plurality of single rolling motions until the coordinates of the mass center coincide with the coordinates of the target point, and moving the robot to the target point in a rolling motion manner.

In an embodiment of the present invention, the jumping and rolling type six-bar tensioning robot may further include a memory (memory), a communication Interface (Communications Interface), and a bus; the microprocessor 51, the memory and the communication interface may complete mutual communication through a bus, the communication interface may transmit information, and the microprocessor 51 may call a logic instruction in the memory to execute any one of the above control methods.

In summary, the invention provides a jump rolling type six-rod tensioning integral robot, which can realize the rolling movement/jumping movement of the robot by controlling the corresponding jacking device to extend out through the main control device; compared with the prior art, the jumping rolling type six-rod tensioning integral robot can realize rolling motion and jumping motion; when the robot encounters an obstacle, the main control device can control the robot to cross the obstacle by adopting jumping motion, so that the obstacle crossing capability of the robot is greatly improved.

It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.

Claims

1. The utility model provides a six pole stretch-draw monolith robot of jump roll formula which includes three rigidity member groups and 24 elastic cables, and every rigidity member group all includes two rigidity member that are parallel to each other, and four elastic cables are all drawn forth to two endpoints of every rigidity member, and four elastic cables that every endpoint corresponds are connected with four endpoints apart from it nearest respectively, its characterized in that, rigidity member includes:

a rod body connected with the elastic cable and having a central hole;

the main control device is arranged in the central hole and is respectively connected with the two jacking devices; the main control device is used for controlling the jacking device to partially extend out of the central hole to jack the ground or to be completely retracted into the central hole.

2. The hopping rolling type six-bar tensegrity robot as claimed in claim 1, wherein said jacking means comprises:

the sleeve is in clearance fit with the central hole;

3. The hopping rolling type six-bar tensioning integrated robot according to claim 1, wherein the main control device comprises:

the microcontroller is arranged in the central hole;

4. The hopping rolling type six-rod integral tensioning robot according to claim 1, wherein sensing devices are arranged at two ends of the rod body, and the sensing devices are connected with the main control device and used for sending sensing signals to the main control device when the rod body touches the ground.

5. A control method for a jumping and rolling type six-rod tensioning integrated robot is characterized by comprising the following steps:

when the motion type is jumping motion, judging whether two end points of three currently touchdown end points of the robot belong to the same rigid rod group or not;

and controlling the robot to execute a plurality of single straight jumping motions, and acquiring the centroid coordinate of the robot after each single straight jumping motion until the centroid coordinate is coincided with the target point coordinate.

6. The control method according to claim 5, wherein the determining the orientation of the target point with respect to the robot is specifically:

when equal, the target point is right in front of the robot;

when not equal, the target point is in front of the side of the robot.

7. The control method according to claim 5, wherein controlling the robot to perform a number of single tilt jump movements until the target point is directly in front of the robot comprises:

comparing the distances between the two end points and the target point;

8. The control method according to claim 5, wherein controlling the robot to perform a number of single straight jumping motions comprises in particular:

and after the robot is separated from the ground, controlling the two jacking devices to retract until the robot touches the ground, and executing a single linear jumping motion.

9. The control method according to claim 5, characterized by further comprising the steps of:

10. The control method according to claim 9, wherein the controlling the robot to perform a single rolling motion by using the end point corresponding to the rolling edge as a driving end point specifically comprises:

and after the jacking device is separated from the ground, the jacking device is controlled to retract until the three end points touch the ground simultaneously, and one rolling motion is executed.