A standing posture adjustment method and system for a foot-type inspection robot

Abstract

The present disclosure provides a standing posture adjustment method and system for a foot-type inspection robot, which obtains posture information and geometric information of the foot-type inspection robot after the robot stands stably; obtains the initial coordinates of the foot end in the shoulder joint coordinate system based on the acquired posture information and geometric information; obtains the new coordinates of the foot end in the shoulder joint coordinate system by combining the initial coordinates, the amount of trunk posture adjustment, and the distance between the left and right feet, and adjusts the posture according to the new coordinates; the present disclosure improves the final standing position accuracy and angle accuracy through in-situ trunk translation and in-situ trunk twisting after the robot stands stably.

Description

Technical Field

[0001] The present disclosure relates to the technical field of foot-type robots, and in particular to a standing posture adjustment method and system for a foot-type inspection robot. Background Art

[0002] The statements in this section merely provide background art related to the present disclosure and do not necessarily constitute prior art.

[0003] When a legged robot walks, the center of mass height fluctuates and the trunk posture shakes, resulting in low sensor positioning accuracy. Equipment inspection requires high positioning accuracy. When the target is far away, a small angle deviation can lead to a huge error.

[0004] The inventors found that the inspection procedure of the legged robot is to traverse the preset inspection points one by one. If it decelerates and stops immediately after reaching the target point, there will often be a large error. Even if the position is fine-tuned after stepping for a while, the stopping position will be inaccurate due to the shaking of the torso. Summary of the invention

[0005] In order to address the deficiencies of the prior art, the present disclosure provides a standing posture adjustment method and system for a foot-type inspection robot. After reaching the vicinity of the preset inspection position, the robot first spreads its four legs to increase the support area, and then stands to make fine adjustments. At this time, the trunk posture no longer shakes, so that more precise positioning accuracy can be obtained, thereby improving the final standing position accuracy and angle accuracy through in-situ trunk translation and in-situ trunk twisting.

[0006] In order to achieve the above objectives, the present disclosure adopts the following technical solutions:

[0007] A first aspect of the present disclosure provides a method for adjusting the standing posture of a foot-type inspection robot.

[0008] A method for adjusting the standing posture of a foot-type inspection robot comprises the following steps:

[0009] Obtain the posture information and geometric information of the foot-type inspection robot after it stands steadily;

[0010] According to the acquired posture information and geometric information, the initial coordinates of the foot end in the shoulder joint coordinate system are obtained;

[0011] Combining the initial coordinates, the amount of trunk posture adjustment, and the distance between the left and right feet, the new coordinates of the foot end in the shoulder joint coordinate system are obtained, and the posture is adjusted according to the new coordinates.

[0012] As some possible implementation methods, the shoulder joint coordinate system is rotated to obtain a second coordinate system, and the position of the hip joint relative to the origin in the second coordinate system is further obtained. The new coordinates are obtained by combining the left and right leg opening adjustment amount, the torso adjustment amount and the initial coordinates.

[0013] As a further limitation, the torso adjustment includes the torso twist angle adjustment, the torso pitch angle adjustment, the torso roll angle adjustment, the torso left and right translation adjustment, the torso front and back translation adjustment, and the torso up and down translation adjustment.

[0014] As a further limitation, the rotation is expressed using ZYX Euler angles, and the rotation matrix is ​​obtained based on the roll, pitch, and torsion adjustments of the torso.

[0015] As a further qualification, the new coordinates are:

[0016] BHIP p TOE =R X (-ψ ref )R Y (-θ ref )R Z (-φ ref )( PHIP p TOE + P p HIP + P p B +δw)- B p HIP

[0017] in, P p B Represents the translation of the torso in all directions, P p HIP represents the position of the hip joint relative to the origin in the second coordinate system, δ represents the left leg or the right leg, w represents the adjustment amount of the left and right leg opening, ψ ref ,θ ref ,φ ref They represent the roll, pitch and twist angle adjustments of the torso respectively.

[0018] As some possible implementations, the support polygon formed by the four legs of the legged robot when standing is larger than the quadrilateral formed by the shoulder joint and the hip joint.

[0019] As some possible implementations, the geometric information includes the length from the torso to the thigh root, the thigh length and the calf length, and the posture information includes the angles between the torso, the thigh and the calf.

[0020] A second aspect of the present disclosure provides a standing posture adjustment system for a foot-type inspection robot.

[0021] A standing posture adjustment system for a foot-type inspection robot, comprising:

[0022] The data acquisition module is configured to: acquire posture information and geometric information of the foot-type inspection robot after it stands steadily;

[0023] The initial coordinate acquisition module is configured to: obtain the initial coordinates of the foot end in the shoulder joint coordinate system according to the acquired posture information and geometric information;

[0024] The posture adjustment module is configured to: combine the initial coordinates, the torso posture adjustment amount and the distance between the left and right feet to obtain the new coordinates of the foot end in the shoulder joint coordinate system, and adjust the posture according to the new coordinates.

[0025] The third aspect of the present disclosure provides a medium on which a program is stored. When the program is executed by a processor, the steps in the standing posture adjustment method of a foot-type inspection robot as described in the first aspect of the present disclosure are implemented.

[0026] The fourth aspect of the present disclosure provides an electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the standing posture adjustment method of a foot-type inspection robot as described in the first aspect of the present disclosure are implemented.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] 1. The present invention innovatively proposes a standing posture adjustment method for a leg-based inspection robot, constructs a leg kinematic model in a Cartesian coordinate system, and develops a standing posture control method for a leg-based robot, thereby avoiding the problem of low positioning accuracy caused by center of mass position fluctuations and trunk posture jitter when the leg-based robot is walking, and improving the standing position and angle accuracy of the robot.

[0029] 2. In the present disclosure, when the legged robot stands, the left and right legs are separated by a certain distance, so that the supporting polygon formed by the four feet is larger than the quadrilateral formed by the shoulder joint and the hip joint. The initial coordinates, the torso posture adjustment amount and the distance between the left and right feet are combined to obtain the new coordinates of the foot end in the shoulder joint coordinate system, thereby achieving more precise adjustment of the posture. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure.

[0031] Figure 1 This is a schematic diagram of the standing posture adjustment method of the foot-type inspection robot provided in Example 1 of the present disclosure.

[0032] Figure 2 Schematic diagram of the coordinate calculation method of the foot end coordinates in the shoulder joint coordinate system provided in Example 1 of the present disclosure.

[0033] Figure 3A coordinate transformation diagram provided for Example 1 of the present disclosure. DETAILED DESCRIPTION

[0034] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0035] It should be noted that the following detailed descriptions are all illustrative and are intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs.

[0036] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0037] In the absence of conflict, the embodiments in the present disclosure and the features in the embodiments may be combined with each other.

[0038] Embodiment 1:

[0039] like Figure 1 As shown, Embodiment 1 of the present disclosure provides a method for adjusting the standing posture of a foot-type inspection robot, comprising the following steps:

[0040] Obtain the posture information and geometric information of the foot-type inspection robot after it stands steadily;

[0041] According to the acquired posture information and geometric information, the initial coordinates of the foot end in the shoulder joint coordinate system are obtained;

[0042] Combining the initial coordinates, the amount of trunk posture adjustment, and the distance between the left and right feet, the new coordinates of the foot end in the shoulder joint coordinate system are obtained, and the posture is adjusted according to the new coordinates.

[0043] Specifically, it includes the following:

[0044] The inspection procedure of the legged robot is to traverse the preset inspection points one by one. Whenever it reaches the vicinity of the target point, it gradually slows down until it steps, and then switches to the standing state.

[0045] When standing, the left and right legs are separated by a certain distance so that the supporting polygon formed by the four feet is larger than the quadrilateral formed by the shoulder joints and hip joints, thereby enhancing the standing stability of the robot. The distance needs to be adjusted according to the actual situation. If it is too small, it will cause instability and topple over when the torso is subsequently offset. If it is too large, the side swing angle of the legs will reach the mechanical limit.

[0046] After standing firmly, the legged robot adjusts the position and posture of the trunk according to the position and posture feedback of the positioning program. Among them, the position adjustment includes front-to-back adjustment (translation along the X-axis) and left-to-right adjustment (translation along the Y-axis), and the posture adjustment is the left-right twisting of the robot (twisting around the Z-axis). In addition, the legged robot can also adjust the inclination of the trunk according to the inspection needs, that is, the roll angle adjustment (rotation around the X-axis) and the pitch angle adjustment (rotation around the Y-axis).

[0047] The specific posture adjustment process is as follows:

[0048] The conventional gait planning method is to control the positions of the four legs in the trunk coordinate system, that is, BHIP p TOE This embodiment decouples standing control from posture control and leg opening distance, and P and∑ B Two coordinate systems are used to realize the movement.

[0049] Without changing the original gait generation method, the standing gait input PHIP p TOE , after transformation, the trunk displacement, posture adjustment and the distance between the left and right feet are integrated to generate a new BHIP p TOE , used for foot end control.

[0050] The specific rotation and translation derivation process is as follows: Figure 2 As shown in the figure, the coordinates of the foot end of a single leg in the shoulder joint coordinate system are:

[0051]

[0052] Depend on Figure 2 It can be seen that:

[0053] P p TOE = P R B B p TOE + P p B (2)

[0054] P R B =R Z (φ ref )R Y (θ ref )R X (ψ ref ) (3)

[0055] P p TOE = PHIP p TOE+ P p HIP +δw (4)

[0056] Further, we get:

[0057] BHIP p TOE =R X (-ψ ref )R Y (-θ ref )R Z (-φ ref )( PHIP p TOE + P p HIP + P p B +δw)- B p HIP (5)

[0058] in,

[0059]

[0060]

[0061]

[0062] Coordinate system∑ P By B Rotation is obtained by using ZYX Euler angles, represented by ∑ P to∑ B The rotation matrix of is (3); where φ ref represents the torsion angle around the Z axis of the coordinate system, θ ref represents the pitch angle around the Y axis of the coordinate system, ψ ref represents the roll angle around the X-axis of the coordinate system, PHIP p TOE is the coordinate system ∑ P The position of the mid-toe relative to the hip joint, P p HIP is the coordinate system ∑ P The position of the mid-hip joint relative to the origin.

[0063] Thus, through PHIP p TOE Adding posture and position information to get BHIP p TOE .

[0064] The variables in control equation (5) can control the legged robot to adjust the movement. The variable list is as follows:

[0065]

[0066]

[0067] Embodiment 2:

[0068] Embodiment 2 of the present disclosure provides a standing posture adjustment system for a foot-type inspection robot, comprising:

[0069] The data acquisition module is configured to: acquire posture information and geometric information of the foot-type inspection robot after it stands steadily;

[0070] The initial coordinate acquisition module is configured to: obtain the initial coordinates of the foot end in the shoulder joint coordinate system according to the acquired posture information and geometric information;

[0071] The posture adjustment module is configured to: combine the initial coordinates, the torso posture adjustment amount and the distance between the left and right feet to obtain the new coordinates of the foot end in the shoulder joint coordinate system, and adjust the posture according to the new coordinates.

[0072] The working method of the system is the same as the standing posture adjustment method of the foot-type inspection robot provided in Example 1, and will not be repeated here.

[0073] Embodiment 3:

[0074] Embodiment 3 of the present disclosure provides a medium on which a program is stored. When the program is executed by a processor, the steps in the standing posture adjustment method of the foot-type inspection robot as described in Embodiment 1 of the present disclosure are implemented. The steps are:

[0075] Obtain the posture information and geometric information of the foot-type inspection robot after it stands steadily;

[0076] According to the acquired posture information and geometric information, the initial coordinates of the foot end in the shoulder joint coordinate system are obtained;

[0077] Combining the initial coordinates, the amount of trunk posture adjustment, and the distance between the left and right feet, the new coordinates of the foot end in the shoulder joint coordinate system are obtained, and the posture is adjusted according to the new coordinates.

[0078] The detailed steps are the same as the standing posture adjustment method of the foot-type inspection robot provided in Example 1, and will not be repeated here.

[0079] Embodiment 4:

[0080] Embodiment 4 of the present disclosure provides an electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the steps in the standing posture adjustment method of the foot-type inspection robot described in Embodiment 1 of the present disclosure are implemented, and the steps are:

[0081] Obtain the posture information and geometric information of the foot-type inspection robot after it stands steadily;

[0082] According to the acquired posture information and geometric information, the initial coordinates of the foot end in the shoulder joint coordinate system are obtained;

[0083] Combining the initial coordinates, the amount of trunk posture adjustment, and the distance between the left and right feet, the new coordinates of the foot end in the shoulder joint coordinate system are obtained, and the posture is adjusted according to the new coordinates.

[0084] The detailed steps are the same as the standing posture adjustment method of the foot-type inspection robot provided in Example 1, and will not be repeated here.

[0085] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0086] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0087] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0088] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0089] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0090] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for adjusting the standing posture of a foot-type inspection robot, characterized in that: The following steps are involved: Obtain the posture information and geometric information of the foot-type inspection robot after it stands steadily; According to the acquired posture information and geometric information, the initial coordinates of the foot end in the shoulder joint coordinate system are obtained; Combining the initial coordinates, the torso posture adjustment amount and the distance between the left and right feet, the new coordinates of the foot end in the shoulder joint coordinate system are obtained, and the posture is adjusted according to the new coordinates. The process of obtaining the new coordinates is specifically as follows: The shoulder joint coordinate system is rotated to obtain the second coordinate system, and the position of the hip joint relative to the origin in the second coordinate system is further obtained. The new coordinates are obtained by combining the left and right leg opening adjustment amount, the torso adjustment amount and the initial coordinates. The trunk adjustment includes the trunk twist angle adjustment, the trunk pitch angle adjustment, the trunk roll angle adjustment, the trunk left-right translation adjustment, the trunk front-back translation adjustment and the trunk up-down translation adjustment; The rotation is expressed in ZYX Euler angles, and the rotation matrix is ​​obtained based on the roll, pitch, and torsion adjustments of the trunk; The new coordinates are, BHIP p TOE =R X (-ψ ref )R Y (-θ ref )R Z (-φ ref )( PHIP p TOE + P p HIP + P p B +δw)- B p HIP in, P p B Represents the translation of the torso in all directions, P p HIP represents the position of the hip joint relative to the origin in the second coordinate system, δ represents the left leg or the right leg, w represents the adjustment amount of the left and right leg opening, ψ ref ,θ ref ,φ ref Respectively represent the roll angle, pitch angle and torsion angle adjustment of the trunk, PHIP p TOE is the coordinate system Σ P The position of the mid-toe relative to the hip joint.

2. The method for adjusting the standing posture of a foot-type inspection robot according to claim 1, characterized in that: The support polygon formed by the four legs of a legged robot when standing is larger than the quadrilateral formed by the shoulder joint and hip joint.

3. The method for adjusting the standing posture of a foot-type inspection robot according to claim 1, characterized in that: The geometric information includes the length from the torso to the thigh root, the thigh length and the calf length, and the posture information includes the angle between the torso, thigh and calf.

4. A standing posture adjustment system for a foot-type inspection robot, characterized in that: include: The data acquisition module is configured to: acquire posture information and geometric information of the foot-type inspection robot after it stands steadily; The initial coordinate acquisition module is configured to: obtain the initial coordinates of the foot end in the shoulder joint coordinate system according to the acquired posture information and geometric information; The posture adjustment module is configured to: combine the initial coordinates, the torso posture adjustment amount and the distance between the left and right feet to obtain the new coordinates of the foot end in the shoulder joint coordinate system, and adjust the posture according to the new coordinates; The shoulder joint coordinate system is rotated to obtain a second coordinate system, and the position of the hip joint relative to the origin in the second coordinate system is further obtained. The new coordinates are obtained by combining the leg opening adjustment amount, the trunk adjustment amount and the initial coordinates. The process of obtaining the new coordinates is specifically as follows: The trunk adjustment includes the trunk twist angle adjustment, the trunk pitch angle adjustment, the trunk roll angle adjustment, the trunk left-right translation adjustment, the trunk front-back translation adjustment and the trunk up-down translation adjustment; The rotation is expressed in ZYX Euler angles, and the rotation matrix is ​​obtained based on the roll, pitch, and torsion adjustments of the trunk; The new coordinates are, BHIP p TOE =R X (-ψ ref )R Y (-θ ref )R Z (-φ ref )( PHIP p TOE + P p HIP + P p B +δw)- B p HIP in, P p B Represents the translation of the torso in all directions, P p HIP represents the position of the hip joint relative to the origin in the second coordinate system, δ represents the left leg or the right leg, w represents the adjustment amount of the left and right leg opening, ψ ref ,θ ref ,φ ref Respectively represent the roll angle, pitch angle and torsion angle adjustment of the trunk, PHIP p TOE is the coordinate system Σ P The position of the mid-toe relative to the hip joint.

5. The standing posture adjustment system of the foot-type inspection robot according to claim 4, characterized in that: The support polygon formed by the four legs of a legged robot when standing is larger than the quadrilateral formed by the shoulder joint and hip joint.

6. The standing posture adjustment system of a foot-type inspection robot according to claim 4, characterized in that: The geometric information includes the length from the torso to the thigh root, the thigh length and the calf length, and the posture information includes the angle between the torso, thigh and calf.

7. A medium having a program stored thereon, characterized in that: When the program is executed by a processor, the steps in the standing posture adjustment method of a foot-type inspection robot as described in any one of claims 1 to 3 are implemented.

8. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the standing posture adjustment method of the foot-type inspection robot as described in any one of claims 1-3 are implemented.

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