A walking condition simulation system and setting method for leg-foot robot

Abstract

The present invention discloses a walking condition simulation system and setting method of a leg-foot robot. The system is provided with a leg-foot system under test, a condition setting module, a cyclic motion module, a leg-foot posture perception module, a system monitoring module and an interactive interface; the condition setting module provides a simulated condition for the leg-foot system under test and inputs the condition conditions, the cyclic motion module provides the condition of cyclic motion for the leg-foot system under test, the leg-foot posture perception module perceives the posture of the leg-foot system under test, the system monitoring module is used for system monitoring, and the interactive interface is used for human-computer interaction. When the simulation system is used, a kinematic model of the leg-foot system under test is first established through the system, then the walking condition is set, and then the walking motion cycle simulation monitoring is performed. The present invention can perform continuous walking motion cycle simulation in a limited space environment of a laboratory, thereby reducing the design risk of the leg-foot robot.

Description

Technical Field

[0001] The present invention relates to the technical field of leg-foot robot, and in particular to a walking condition simulation system and a setting method of a leg-foot robot. Background Art

[0002] The leg-foot walking device is an important component of the leg-foot robot, and its movement ability level directly affects the applicable scenarios of the leg-foot robot. Under laboratory conditions, the construction of walking conditions is limited by space, so researchers can only simply debug the leg-foot walking device by stepping on the spot or walking on a flat road in a limited range, and preliminarily verify the walking control strategy and hardware matching. Under the conditions of the test site, different walking conditions are constructed on site, and motion tests are carried out on the whole machine or prototype of the leg-foot robot, which can better test the movement ability and hardware matching of the leg-foot walking device, but the preparation period before the test is long, and the space and time cost of setting up the test scene is high. Therefore, it is ideal to provide a walking condition simulation system. Summary of the invention

[0003] In order to reduce the risk of leg-foot walking device design, improve the efficiency of overall machine design, and reduce the time and economic cost of walking system testing, the present invention proposes a leg-foot robot walking condition simulation system and setting method, which can simulate a variety of walking conditions under laboratory conditions, so that the leg-foot walking device can realize walking cycle motion simulation in a limited space.

[0004] In order to achieve the above-mentioned object, the present invention provides a leg-foot robot walking condition simulation system, which is provided with a test leg-foot system, a condition setting module, a cyclic motion module, a leg-foot posture perception module, a system monitoring module and an interactive interface;

[0005] The test leg and foot system is provided with a thigh rod, a shank rod, a foot end, a hip joint, a knee joint, and a hip joint drive cylinder and a knee joint drive cylinder controlled by a walking controller;

[0006] The working condition setting module includes a hip joint brake and a knee joint brake for limiting the movement of the hip joint and the knee joint, a support unit for constructing the terrain, a working condition data transmission unit for transmitting hip joint brake and knee joint brake information and supporting unit terrain information, and a working condition setting controller for controlling the hip joint brake, the knee joint brake and the supporting unit;

[0007] The cyclic motion module includes a vertical adjustment mechanism, a longitudinal adjustment mechanism and a simulated vehicle body, the vertical adjustment mechanism carries the longitudinal adjustment mechanism, the longitudinal adjustment mechanism carries the simulated vehicle body, the simulated vehicle body is connected to the tested leg and foot system, and the vertical adjustment mechanism and the longitudinal adjustment mechanism are controlled by the working condition setting controller;

[0008] The leg and foot posture perception module includes a vertical adjustment displacement sensor, a longitudinal adjustment displacement sensor, a vehicle body vertical displacement sensor, a hip joint piston displacement sensor, a hip joint piston thrust sensor, a knee joint piston displacement sensor, a knee joint piston thrust sensor, a foot end pressure sensor, and a posture data transmission unit for transmitting the motion state information of the leg and foot system under test;

[0009] The working condition data transmission unit and the posture data transmission unit are connected to the working condition setting controller;

[0010] The system monitoring module receives information from the posture data transmission unit and the working condition data transmission unit, and displays the information through an interactive interface; at the same time, the system monitoring module controls the walking controller and the working condition setting controller;

[0011] The interactive interface receives and displays the system status information transmitted by the system monitoring module, and at the same time sets the working conditions and performs manual intervention through the interactive interface.

[0012] Wherein, the hip joint brake and knee joint brake also include corresponding brake pressure sensors and angular displacement sensors, which are connected to the working condition setting controller.

[0013] Wherein, the support unit comprises a support panel and a support unit driving cylinder, the piston rod end of the support unit driving cylinder is ball-jointed with the support panel, and the local driving cylinder is sliding ball-jointed with the support panel;

[0014] Furthermore, a rough terrain can be constructed by arranging several of the support units.

[0015] Wherein, in the circular motion module, the vertical adjustment mechanism is provided with a vertical drive cylinder, the movable end of which supports the longitudinal adjustment mechanism;

[0016] Among them, the longitudinal adjustment mechanism includes a rodless cylinder body and a rodless cylinder slider, the rodless cylinder slider is slidably set on the rodless cylinder body, a vertical guide rod is set on the rodless cylinder slider, and the simulated vehicle body is slidably set on the vertical guide rod.

[0017] The present invention also provides a method for setting up the above-mentioned leg-foot robot walking condition simulation system, comprising:

[0018] Step 100, establishing a kinematic model of the subject's leg and foot system;

[0019] Step 200, setting walking conditions;

[0020] Wherein, step 100 comprises:

[0021] Step 101, establishing a motion coordinate system of the test leg and foot system and the walking condition simulation system;

[0022] Step 102, determining the position coordinates of the foot end, which are related to the hip joint angle and the knee joint angle;

[0023] Step 103, based on the correlation between the hip joint angle, the knee joint angle and the extension and contraction amount of the joint drive cylinder, establish the relationship between the foot end position and the extension and contraction amount of the joint drive cylinder;

[0024] Step 200 includes: setting the terrain through the support unit, setting the position of the tested leg and foot system through the vertical adjustment mechanism, the longitudinal adjustment mechanism and the simulated vehicle body, and setting the walking step length λ1, the walking cycle T1, the number of walking cycles n1 and the walking initial point O of the tested leg and foot system. s1 .

[0025] Furthermore, in step 101:

[0026] Establish the simulated vehicle body coordinate system X0Y0Z0 at the intersection of the vertical symmetry center line of the simulated vehicle body and the straight line where the base extension surface is located, with the positive direction of Z0 pointing upward, the positive direction of X0 pointing to the forward direction, and the positive direction of Y0 determined by the right-hand rule;

[0027] Establish the hip joint coordinate system X1Y1Z1 at the hip joint rotation center, with the positive direction of Z1 along the joint axis and pointing to the right of the forward direction, the positive direction of X1 pointing to the direction of the knee joint, and the positive direction of Y1 determined by the right-hand rule;

[0028] Establish the knee joint coordinate system X2Y2Z2 at the knee joint rotation center, the positive direction of Z2 is along the joint axis and points to the right of the forward direction, the positive direction of X2 points to the foot end position, and the positive direction of Y2 is determined by the right-hand rule;

[0029] A cyclic adjustment coordinate system X is established at the intersection of the longitudinal motion axis of the longitudinal adjustment mechanism and the vertical motion axis of the simulated vehicle body. G Y G Z G , the positive direction of each axis is consistent with the positive direction of the simulated vehicle coordinate system X0Y0Z0;

[0030] Establish the system coordinate system X at the intersection of the vertical drive cylinder axis and the ground at the starting end of the system W Y W Z W , the positive direction of each axis is consistent with the positive direction of the simulated vehicle coordinate system X0Y0Z0;

[0031] Coordinate system X0Y0Z0, X1Y1Z1, X2Y2Z2, X G Y G Z G and X W YW Z W The origins of are all in the same plane;

[0032] Further, in step 102:

[0033] Using the improved DH parameter method,

[0034] Transform the parameters of the hip joint and knee joint coordinate systems to the simulated vehicle coordinate system X0Y0Z0 to obtain the position coordinates of the foot end in the simulated vehicle coordinate system X0Y0Z0;

[0035] Then according to the following parameters:

[0036] H OC : When the leg-foot system under test is in the support phase, the vertical displacement of the simulated vehicle body in response to the movement is measured by the vehicle body vertical displacement sensor;

[0037] H GW :Loop adjustment of coordinate system X G Y G Z G and the system coordinate system X W Y W Z W The vertical distance is measured by vertically adjusting the displacement sensor;

[0038] S GW :Loop adjustment of coordinate system X G Y G Z G and the system coordinate system X W Y W Z W The longitudinal distance is measured by longitudinally adjusting the displacement sensor;

[0039] Convert the position coordinates of the foot end in the simulated vehicle coordinate system X0Y0Z0 to the system coordinate system X W Y W Z W Down.

[0040] Furthermore, step 200 also includes defining a virtual obstacle area on the set terrain;

[0041] When the foot end of the subject's leg and foot system approaches the virtual obstacle area, the simulated foot end touches the obstacle;

[0042] When the shank rod or thigh rod of the subject's leg-foot system enters the virtual obstacle area, the simulated leg touches the obstacle;

[0043] When it is detected that the foot end is located above the virtual obstacle area, the working condition setting controller controls the support unit drive cylinder to extend so that the support panel is flush with the upper surface of the virtual obstacle, simulating the foot end stepping on the upper surface of the obstacle.

[0044] Compared with the prior art, the advantages of the present invention are:

[0045] (1) The leg-foot robot walking condition simulation system and setting method of the present invention can enable the test leg-foot system to perform continuous walking motion cycle simulation in a limited space environment in a laboratory.

[0046] (2) The leg-foot robot walking condition simulation system and setting method of the present invention can simulate a variety of walking conditions and set virtual obstacles. Through braking elements, the leg-foot system under test can produce an obstacle-touching effect, which can effectively verify the feasibility of the walking strategy of the leg-foot device.

[0047] (3) The leg-and-foot robot walking condition simulation system and setting method of the present invention can effectively reduce the risk of leg-and-foot robot design and improve the walking system design efficiency and test efficiency through experimental verification of the simulation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a block diagram of the walking condition simulation system of leg-footed robots;

[0049] Figure 2a This is the motion principle diagram of the leg-foot robot walking condition simulation system;

[0050] Figure 2b This is the rear-view motion principle diagram of the support unit of the leg-foot robot walking condition simulation system;

[0051] Figure 3 A flowchart of the steps for setting up a legged robot walking condition simulation system;

[0052] Figure 4 It is a simplified structural diagram of the tested leg-foot system in the DH coordinate system;

[0053] Figure 5 This is the coordinate relationship diagram of the leg-foot robot walking condition simulation system;

[0054] Figure 6 This is the relationship between the joint angle of the tested leg and foot system and the extension and contraction of the drive cylinder;

[0055] Figure 7 Set up a schematic diagram for flat road conditions;

[0056] Figure 8 This is a walking cycle process diagram for flat road conditions;

[0057] Fig. 9 This is the state diagram of the obstacle crossing process under the flat road obstacle condition;

[0058] Fig.10Set up a schematic diagram for the step obstacle condition;

[0059] Fig.11 Set up the schematic for the slope condition.

[0060] In the figure: 1-test leg and foot system; 1.1-base joint; 1.2-thigh rod; 1.3-calf rod; 1.4-foot end; 1.5-hip joint drive cylinder; 1.6-knee joint drive cylinder; 1.7-walking controller;

[0061] 2-working condition setting module; 2.1-hip joint brake; 2.1.1-hip joint brake pressure sensor; 2.1.2-hip joint angular displacement sensor; 2.2-knee joint brake; 2.2.1-knee joint brake pressure sensor; 2.2.2-knee joint angular displacement sensor; 2.3-support unit; 2.3.1 support panel; 2.4-working condition data transmission unit; 2.5-working condition setting controller;

[0062] 3-Circular motion module; 3.1-Vertical adjustment mechanism; 3.2-Longitudinal adjustment mechanism; 3.3-Simulated vehicle body;

[0063] 4-leg and foot posture sensing module; 4.1-vertical adjustment displacement sensor; 4.2-longitudinal adjustment displacement sensor; 4.3-vehicle vertical displacement sensor; 4.4-hip joint piston displacement sensor; 4.5-hip joint piston thrust sensor; 4.6-knee joint piston displacement sensor; 4.7-knee joint piston thrust sensor; 4.8-foot end pressure sensor; 4.9-posture data transmission unit;

[0064] 5-System monitoring module;

[0065] 6-Interactive interface. DETAILED DESCRIPTION

[0066] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0067] like Figure 1 , Figure 2a and Figure 2b As shown, the leg-foot robot walking condition simulation system provided by the present invention is composed of a test leg-foot system 1, a condition setting module 2, a cyclic motion module 3, a leg-foot posture perception module 4, a system monitoring module 5 and an interactive interface 6.

[0068] The test leg and foot system 1 includes a base 1.1, a thigh rod 1.2, a shank rod 1.3, a foot end 1.4, a hip joint drive cylinder 1.5, a knee joint drive cylinder 1.6 and a walking controller 1.7. The base 1.1 of the test leg and foot system 1 is connected to the simulated vehicle body 3.3 of the cyclic motion module 3, thereby realizing the connection between the test leg and foot system 1 and the walking condition simulation system. The base 1.1 and the thigh rod 1.2 are hinged to form a hip joint, which is driven by the hip joint drive cylinder 1.5; the thigh rod 1.2 and the shank rod 1.3 are hinged to form a knee joint, which is driven by the knee joint drive cylinder 1.6; the shank rod 1.3 is rigidly connected to the foot end 1.4. The walking controller 1.7 receives the gait walking control strategy imported by the interactive interface 6, and realizes the walking movement of the test leg and foot system 1 by controlling the extension and contraction of the hip joint drive cylinder 1.5 and the knee joint drive cylinder 1.6.

[0069] The working condition setting module 2 comprises a hip joint brake 2.1, a knee joint brake 2.2, a support unit 2.3, a working condition data transmission unit 2.4 and a working condition setting controller 2.5.

[0070] The structure of the hip joint brake 2.1 may be: comprising a rotor and a stator, wherein the rotor is mounted on the hip joint axis hinged between the base 1.1 and the thigh rod 1.2 and rotates with the axis, and the stator is mounted beside the rotor and fixed on the base 1.1, and is a clamp-type structure, in clamp-type contact with the rotor. The hip joint brake 2.1 acts on the hip joint of the tested leg-foot system 1, and simulates the effect of the leg-foot system touching an obstacle by applying braking resistance to the hip joint. The hip joint brake 2.1 also includes a hip joint brake pressure sensor 2.1.1 for detecting the brake pressure and a hip joint angular displacement sensor 2.1.2 for detecting the joint braking effect.

[0071] The structure of the knee joint brake 2.2 can also be the same as the hip joint brake. Similarly, the knee joint brake 2.2 acts on the knee joint of the test leg and foot system 1, and includes a knee joint brake pressure sensor 2.2.1 and a knee joint angular displacement sensor 2.2.2.

[0072] The support unit 2.3 includes a support panel 2.3.1 and a support unit drive cylinder. Four support unit drive cylinders A, B, C, and D are arranged at the four corners of the bottom of the support panel 2.3.1. The piston rod end of the support unit drive cylinder is ball-hinged with the support panel 2.3.1, and the inclination angle of the support panel 2.3.1 can be adjusted. In addition, the local drive cylinder is not only ball-hinged with the support panel 2.3.1, but can also slide at the bottom of the support panel 2.3.1 to adapt to the slight displacement caused by the inclination of the support panel 2.3.1. By adjusting the telescopic length of each support unit drive cylinder, the support panel is driven to form working conditions such as a plane, a slope, and a step surface. At the same time, support unit drive cylinder piston displacement sensors A, B, C, and D are correspondingly arranged to detect the telescopic amount of the drive cylinder piston. Furthermore, in order to form different terrain conditions, several support units 2.3 can be set, such as Figure 2a , 2b As shown, two support units 2.3 are provided, each comprising a support unit drive cylinder A1-D1, A2-D2.

[0073] The working condition data transmission unit 2.4 is used to collect the braking pressure information, joint angular displacement information and extension and contraction amount information of each driving cylinder piston of the support unit 2.3 of the hip joint brake 2.1 and the knee joint brake 2.2, and transmit the information to the working condition setting controller 2.5 and the system monitoring module 5 in the time domain.

[0074] The working condition setting controller 2.5 controls the hip joint brake 2.1, the knee joint brake 2.2 and the support unit 2.3, and receives the information transmitted by the working condition data transmission unit 2.4 to achieve the setting of the target working condition. At the same time, the working condition setting controller 2.5 also controls the vertical adjustment mechanism 3.1 and the longitudinal adjustment mechanism 3.2 in the cyclic motion module 3, and receives the state information transmitted by the posture data transmission unit 4.9 in the leg and foot posture perception module 4, and controls the subject leg and foot system 1 to achieve reciprocating continuous motion in the walking working condition simulation system. The working condition setting controller 2.5 receives the working condition setting input through the interactive interface 6, and is monitored and controlled by the system monitoring module 5.

[0075] The cyclic motion module 3 comprises a vertical adjustment mechanism 3.1, a longitudinal adjustment mechanism 3.2 and a simulated vehicle body 3.3. The cyclic motion module 3 enables the walking to be cyclically continuous under the control of the working condition setting controller 2.5.

[0076] The basic component of the vertical adjustment mechanism 3.1 is the vertical drive cylinder, the movable end of the vertical drive cylinder supports the longitudinal adjustment mechanism 3.2, the longitudinal adjustment mechanism 3.2 carries the simulated vehicle body 3.3, and the simulated vehicle body 3.3 is connected to the tested leg and foot system 1. Therefore, by adjusting the telescopic length of the vertical drive cylinder of the vertical adjustment mechanism 3.1, the vertical (Z) height of the tested leg and foot system 1 can be adjusted. The vertical adjustment mechanism 3.1 carries the longitudinal adjustment mechanism 3.2 and is controlled by the working condition setting controller 2.5. The vertical height is measured by the vertical adjustment displacement sensor 4.1 of the leg and foot posture sensing module 4.

[0077] The basic components of the longitudinal adjustment mechanism 3.2 include a rodless cylinder body and a rodless cylinder slider. The slider is slidably mounted on the cylinder body and can slide freely or under the push of a piston. A vertical guide rod is arranged on the slider, and the simulated vehicle body 3.3 is slidably mounted on the vertical guide rod.

[0078] The longitudinal adjustment mechanism 3.2 carries the simulated vehicle body 3.3 and is controlled by the working condition setting controller 2.5. The longitudinal adjustment mechanism 3.2 can adjust the longitudinal (X) position of the tested leg and foot system 1, and can also be driven by the simulated vehicle body 3.3 to move freely in the longitudinal direction when the tested leg and foot system 1 is in the walking support phase. The longitudinal position is measured by the longitudinal adjustment displacement sensor 4.2 of the leg and foot posture sensing module 4.

[0079] The simulated vehicle body 3.3 is connected to the test leg and foot system 1, and can freely move vertically along the guide rail when the test leg and foot system 1 is in the walking support phase. The vertical response of the simulated vehicle body is measured by the vehicle body vertical displacement sensor 4.3 of the leg and foot posture perception module 4.

[0080] The leg and foot posture perception module 4 includes a vertical adjustment displacement sensor 4.1, a longitudinal adjustment displacement sensor 4.2, a vehicle body vertical displacement sensor 4.3, a hip joint piston displacement sensor 4.4, a hip joint piston thrust sensor 4.5, a knee joint piston displacement sensor 4.6, a knee joint piston thrust sensor 4.7, a foot end pressure sensor 4.8 and a posture data transmission unit 4.9.

[0081] The vertical adjustment displacement sensor 4.1 is arranged on the vertical adjustment mechanism 3.1, and is used to measure the vertical height of the tested leg-foot system 1; the longitudinal adjustment displacement sensor 4.2 is arranged on the longitudinal adjustment mechanism 3.2, and is used to measure the longitudinal position of the tested leg-foot system 1; the vehicle body vertical displacement sensor 4.3 is arranged on the simulated vehicle body 3.3, and is used to measure the vertical response of the vehicle body during the support phase; the hip joint piston displacement sensor 4.4 and the hip joint piston thrust sensor 4.5 are arranged on the hip joint drive cylinder 1.5 of the tested leg-foot system 1, and are used to measure the activity of the hip joint drive cylinder 1.5, respectively. The amount of piston expansion and contraction and the size and direction of the output force; the knee joint piston displacement sensor 4.6 and the knee joint piston thrust sensor 4.7 are arranged on the knee joint drive cylinder 1.6 of the test leg and foot system 1, and are respectively used to measure the amount of piston expansion and contraction and the size and direction of the output force of the knee joint drive cylinder 1.6; the foot end pressure sensor 4.8 is arranged on the foot end 1.4, and is used to detect whether the foot end 1.4 is grounded and supported; the posture data transmission unit 4.9 collects the measurement signals of the above sensors, and transmits the signals to the walking controller 1.7, the working condition setting controller 2.5 and the system monitoring module 5 in the time domain.

[0082] The system monitoring module 5 receives information from the posture data transmission unit 4.9 and the working condition data transmission unit 2.4, and displays the information to the system operator through the interactive interface 6. At the same time, the system monitoring module 5 can control the walking controller 1.7 and the working condition setting controller 2.5 to restore the subject leg and foot system 1 to its original position or manually intervene in the movement in the case of walking stagnation and inability to cycle.

[0083] The interactive interface 6 receives the walking condition simulation system status information transmitted by the system monitoring module 5 and displays it to the operator. At the same time, the operator can set walking parameters, working conditions and intervene in the test system movement through the interactive interface 6.

[0084] In the entire walking condition simulation system, the power of each component is taken from the location of the system.

[0085] Furthermore, the leg-foot robot walking condition simulation system proposed in the present invention can be applicable to leg-foot systems with different structural forms such as open chain and closed chain, and is not limited to the configuration of the above-mentioned test leg-foot system.

[0086] The present invention not only proposes the composition of a leg-foot robot walking condition simulation system, but also specifically introduces the system's condition setting method and use steps.

[0087] like Figure 3 As shown, the system settings include the following:

[0088] Step 100, establishing a kinematic model of the leg and foot system under test, and determining the state and position of the leg and foot system under test in the working condition simulation system;

[0089] Step 200, walking condition setting, determines the walking condition and walking parameters to be simulated.

[0090] When in use, the walking cycle state of the subject's leg and foot system is monitored to determine whether the walking cycle state is abnormal and whether the cycle end conditions are met.

[0091] Below Figure 2a , Figure 2b The walking condition simulation system and the tested leg and foot system shown are embodiments, and specifically illustrate the method for setting the simulation condition.

[0092] Step 100, establishing a kinematic model of the subject's leg and foot system, including steps 101 to 103.

[0093] Step 101, establishing a motion coordinate system for the test leg and foot system and the walking condition simulation system.

[0094] like Figure 4 As shown, the improved DH parameter method is used to establish the structural diagram of the test leg-foot system 1 under DH coordinates. The simulated vehicle body coordinate system X0Y0Z0 is established at the intersection of the vertical symmetry center line of the simulated vehicle body 3.3 and the extended surface of the base 1.1. The positive direction of Z0 is upward, the positive direction of X0 points to the forward direction, and the positive direction of Y0 is determined by the right-hand rule. The hip joint coordinate system X1Y1Z1 is established at the hip joint rotation center. The positive direction of Z1 is along the joint axis and points to the right side of the forward direction. The positive direction of X1 points to the knee joint direction. The positive direction of Y1 is determined by the right-hand rule. The knee joint coordinate system X2Y2Z2 is established at the knee joint rotation center. The positive direction of Z2 is along the joint axis and points to the right side of the forward direction. The positive direction of X2 points to the foot end position P direction, and the positive direction of Y2 is determined by the right-hand rule. The distance between the origin of the simulated vehicle coordinate system X0Y0Z0 and the origin of the hip joint coordinate system X1Y1Z1 is L1, the distance between the origin of the hip joint coordinate system X1Y1Z1 and the origin of the knee joint coordinate system X2Y2Z2 is L2, and the coordinates of the foot position P in the knee joint coordinate system X2Y2Z2 are (L3,0,0).

[0095] like Figure 5 As shown, establish a circular adjustment coordinate system X G Y G Z G and the system coordinate system X W Y W Z W , cyclically adjust the coordinate system X G Y G Z G The origin is located at the intersection of the longitudinal motion axis of the longitudinal adjustment mechanism 3.2 and the vertical motion axis of the simulated vehicle body 3.3. The positive direction of each axis is consistent with the positive direction of the simulated vehicle body coordinate system X0Y0Z0. W YW Z W The origin is located at the intersection of the vertical drive cylinder axis and the ground at the starting end of the system. The positive direction of each axis is also consistent with the positive direction of the simulated vehicle coordinate system X0Y0Z0. G Y G Z G and X W Y W Z W The origins are all in the same plane.

[0096] H OC When the leg-foot system 1 is in the support phase, the vertical displacement of the simulated vehicle body 3.3 in response to the movement can be measured by the vehicle body vertical displacement sensor 4.4. When the leg-foot system 1 is in the swing phase, H OC = 0, that is, the simulated vehicle coordinate system X0Y0Z0 and the cyclic adjustment coordinate system X G Y G Z G coincide.

[0097] H GW Adjust the coordinate system X for the loop G Y G Z G and the system coordinate system X W Y W Z W The vertical distance can be measured by vertically adjusting the displacement sensor 4.1.

[0098] S GW Adjust the coordinate system X for the loop G Y G Z G and the system coordinate system X W Y W Z W The longitudinal distance can be measured by longitudinally adjusting the displacement sensor 4.2.

[0099] Step 102, establish a kinematic model of the subject leg-foot system 1, and determine the positions of the foot end, thigh rod and shank rod.

[0100] like Figure 4 As shown, determine the DH parameter table as follows:

[0101] The test leg-foot system 1 shown in the figure has two joint degrees of freedom, so i = 1, 2;

[0102] i <![CDATA[L i-1 ]]> <![CDATA[α i-1 ]]> <![CDATA[d i ]]> <![CDATA[θ i ]]> 1. Hip joint <![CDATA[L1]]> 90° 0 <![CDATA[θ1]]> 2: Knee joint <![CDATA[L2]]> 0 0 <![CDATA[θ2]]>

[0103] In the table, L i-1: The length of the connecting rod between the joints, L1 represents the length from the base of the coxa to the hip joint, i.e. the length of the coxa, L2 represents the length from the hip joint to the knee joint, i.e. the length of the thigh rod, and L3 represents the length from the knee joint to the foot end, i.e. the length of the calf rod; α i-1 : connecting rod torsion angle; d i : connecting rod offset; θ i : Joint angle, which is a system variable.

[0104] The transformation matrix of the improved DH parameter method is:

[0105]

[0106] The transformation matrix from the hip joint coordinate system X1Y1Z1 to the simulated vehicle coordinate system X0Y0Z0 is obtained as follows:

[0107]

[0108] The transformation matrix from the knee joint coordinate system X2Y2Z2 to the hip joint coordinate system X1Y1Z1 is:

[0109]

[0110] Get the transformation matrix and the coordinate conversion formula of the foot end position point P in the simulated vehicle coordinate system X0Y0Z0:

[0111] T= 0 T1 1 T2E

[0112] 0 P=T 2 P

[0113] Where E is a 4×4 unit matrix. According to the improved DH parameter method, 2 P in the coordinate transformation process is:

[0114]

[0115] Finally, the position coordinates of the foot end position point P in the simulated vehicle body coordinate system X0Y0Z0 are obtained as follows:

[0116]

[0117] Therefore, the foot end position P is in the system coordinate system X W Y W Z W The coordinates are:

[0118]

[0119] Similarly, according to the above method, the origin of the hip and knee joint coordinate systems X1Y1Z1 and X2Y2Z2 can be easily solved in the system coordinate system X W Y W Z W The position of the lower leg, the line connecting the foot end position P and the knee joint coordinate origin is the state position of the calf rod 1.3, and the line connecting the knee joint coordinate origin and the hip joint coordinate origin is the state position of the thigh rod 1.2.

[0120] Step 103, establishing the relationship between the foot end position P and the extension and contraction amount of the joint drive cylinder.

[0121] like Figure 6 As shown, the relationship between the hip joint angle θ1 and the knee joint angle θ2 of the test leg-foot system 1 and the extension and contraction amounts of the knee and hip joint drive cylinders is solved.

[0122] definition:

[0123] Point O is the connection hinge between the base 1.1 and the thigh bar 1.2;

[0124] Point A is the connection hinge between the hip joint drive cylinder 1.5 and the base segment 1.1;

[0125] Point B is the connection hinge point between the hip joint drive cylinder 1.5 and the thigh rod 1.2;

[0126] Point C is the fixed position of the connection seat between the hip joint driving cylinder 1.5 and the thigh rod 1.2 on the thigh rod 1.2;

[0127] BC is the height of the connection seat of the hip joint drive cylinder 1.5 on the thigh rod 1.2;

[0128] Point D is the fixed position of the connection seat between the knee joint driving cylinder 1.6 and the thigh rod 1.2 on the thigh rod 1.2;

[0129] Point E is the connection hinge point between the knee joint drive cylinder 1.6 and the thigh rod 1.2;

[0130] DE is the height of the connection seat of the knee joint drive cylinder 1.6 on the thigh rod 1.2;

[0131] Point F is the connection hinge point between the knee joint drive cylinder 1.6 and the shank rod 1.3;

[0132] Point Q is the connection hinge point between the thigh rod 1.2 and the calf rod 1.3.

[0133] In △ABO, the cosine theorem gives:

[0134]

[0135]

[0136] So we get:

[0137] θ1=270°-γ1-∠BOC

[0138] Among them, ∠BOC is a constant value, which is related to the size of the leg structure; 270°-∠BOC is a constant value, recorded as β1, so:

[0139]

[0140] In the formula, S OA With S OB is a fixed value, which is related to the size of the leg structure; S AB is a variable, which is related to the extension and contraction of the hip joint drive cylinder 1.5. The length of AB when the hip joint drive cylinder 1.5 is fully contracted is S AB0 , the extension of the hip joint drive cylinder 1.5 is ΔS AB ,

[0141] The joint angle θ1 and the extension ΔS of the hip joint drive cylinder 1.5 are obtained from this. AB The relationship is:

[0142]

[0143] Similarly, in △EFQ we get:

[0144]

[0145]

[0146] θ2=180°-γ2-∠EQD

[0147] Among them, ∠EQD is a constant value, which is related to the size of the leg structure; 180°-∠BOC is a constant value, recorded as β2, so:

[0148]

[0149] In the formula, S FQ With S QE is a fixed value, which is related to the size of the leg structure; S EF is a variable, which is related to the extension and contraction of the knee joint drive cylinder 1.6. The length of EF when the knee joint drive cylinder 1.6 is fully contracted is S EF0 , the extension of the knee joint drive cylinder 1.6 is ΔS EF , thus obtaining the joint angle θ2 and the extension ΔS of the knee joint drive cylinder 1.6 EF The relationship formula.

[0150]

[0151] Thus, the relationship between the coordinates of the foot end position point P and the extension of the knee and hip joint drive cylinders was established.

[0152] The kinematic model parameters of the tested leg-foot system 1 and the coordinate information of the foot end position P are input into the system monitoring module 5 of the leg-foot robot walking condition simulation system through the interactive interface 6. Thus, the motion state of the tested leg-foot motion system can be obtained at any time through the posture data transmission unit 4.9, and can be displayed to the operator through the interactive interface 6.

[0153] Step 200, walking condition setting, includes steps 201-204.

[0154] like Figure 7 As shown, this embodiment takes flat road conditions and obstacle conditions as examples to specifically illustrate the working condition setting method and steps of the walking working condition simulation system.

[0155] Step 201, the operator selects the flat road condition setting through the interactive interface 6, and inputs the height ΔH1 of the simulated vehicle body 3.3 from the support panel 2.3.1, the walking step length λ1, the walking cycle T1, the number of walking cycles n1 and the walking initial point O s1 ;

[0156] Step 202, the working condition setting controller 2.5 controls the support unit drive cylinders A1-D1 and A2-D2 of the two support units 2.3 to extend and retract, so that the support panel of the support unit 2.3 is horizontal and the height of the support panel from the ground is kept at H. RW1 ;

[0157] Step 203, the working condition setting controller 2.5 controls the vertical adjustment mechanism 3.1 to rise and fall so that the distance from the ground is:

[0158] H GW1 =ΔH1+H RW1 ;

[0159] according to Figure 8 In the process (1) to (4), when the foot end contacts the support panel at the beginning, the leg and foot system 1 under test starts in the support phase. When the leg and foot system 1 under test drives the simulated vehicle body 3.3 longitudinally from the initial point O s1 Moved λ1 to the end point O e1 When the thigh rod 1.2 and the calf rod 1.3 of the subject leg and foot system 1 are lifted, the foot ends leave the support panel, and the foot end pressure sensor 4.8 detects that the pressure is zero, the walking process enters the swing phase. During the walking swing phase, the longitudinal adjustment mechanism 3.3 drives the subject leg and foot system 1 to move longitudinally and return to the initial point O. s1 When the thigh bar 1.2 and the shank bar 1.3 of the tested leg-foot system 1 fall down and the foot end 1.4 contacts the support panel again, the next cycle begins.

[0160] Further, the method of setting walking obstacles on flat roads is as follows:

[0161] Step 204, such as Fig. 9 As shown, taking a square obstacle as an example, a virtual obstacle area is set (the cross-sectional corner points are H2, J2, M2, and N2). When the foot end 1.4 steps into the virtual obstacle area or the calf rod 1.3 or the thigh rod 1.2 touches the virtual obstacle area, the hip joint brake 2.1 and the knee joint brake 2.2 brake to prevent the continued movement of the test leg-foot system 1, thereby simulating the effect of touching the obstacle.

[0162] like Fig. 9 As shown in the process (1) to (4), when the foot end 1.4 of the tested leg and foot system 1 approaches the virtual obstacle, the hip joint brake 2.1 and the knee joint brake 2.2 act to limit the movement of the tested leg and foot system 1, simulating the effect of the foot end 1.4 touching the obstacle. When the hip joint piston thrust sensor 4.5 and the knee joint piston thrust sensor 4.7 detect the change in the force direction, the hip joint brake 2.1 and the knee joint brake 2.2 are released, and the tested leg and foot system can continue to adjust the movement;

[0163] When the calf rod 1.3 or thigh rod 1.2 of the tested leg and foot system 1 enters the virtual obstacle area, the hip joint brake 2.1 and knee joint brake 2.2 are activated to limit the movement of the tested leg and foot system 1, simulating the effect of the legs touching the obstacle. When the hip joint piston thrust sensor 4.5 and the knee joint piston thrust sensor 4.7 detect the change in force direction, the hip joint brake 2.1 and the knee joint brake 2.2 are released, and the tested leg and foot system can continue to adjust the movement;

[0164] When it is detected that the foot end position P is above the virtual obstacle, the working condition setting controller 2.5 controls the drive cylinder of the support unit 2.3 where the virtual obstacle is located to extend so that the support panel is flush with the top of the virtual obstacle, which can simulate the effect of the foot end of the test leg and foot system 1 stepping on the upper surface of the obstacle. In addition to this condition, the support unit 2.3 keeps the support panel height H RW1 .

[0165] Furthermore, the walking condition setting also includes step conditions, slope conditions and obstacle settings.

[0166] like Fig.10 As shown, for step conditions, set two support units 2.3 and input the step height H ST , Step width S ST The working condition setting controller 2.5 controls the extension and retraction of the support unit drive cylinders A1-D1 and A2-D2 of the two support units 2.3, so that the support height difference between the two support units 2.3 is H ST, a virtual obstacle area is set at the junction of the two support units 2.3 (the cross-sectional corner point is H 31 , J 31 、M 31 、N 31 ), simulating the vertical elevation of the first step; similarly, a virtual obstacle area can be set on any supporting panel (the corner point of the cross section is H 32 , J 32 、M 32 、N 32 ) as a vertical facade simulating the second step.

[0167] like Fig.11 As shown, in the slope working condition, two support units 2.3 are set, and the slope angle δ is input. The support unit drive cylinders A1-D1 and A2-D2 of the two support units 2.3 are controlled to extend and retract through the working condition setting controller 2.5, so that the support panels of the two support units 2.3 are at the same inclination angle δ and maintain the same plane.

[0168] Walking cycle and status monitoring of the test leg and foot system

[0169] When the system monitoring module 5 detects that the data of the hip joint brake pressure sensor 2.1.1, the knee joint brake pressure sensor 2.2.1, the hip joint piston thrust sensor 4.5 and the knee joint piston thrust sensor 4.7 keep rising, while the data of the hip joint angular displacement sensor 2.1.2, the knee joint angular displacement sensor 2.2.2, the hip joint piston displacement sensor 4.4 and the knee joint piston displacement sensor 4.6 remain basically unchanged, it means that the system is stuck and the test leg and foot system cannot avoid the virtual obstacle. At this time, the system monitoring module 5 intervenes in the system action, controls the walking controller 1.7 and the working condition setting controller 2.5 to unload and reset the driving elements of the test leg and foot system 1 and the working condition setting module 2, and the walking cycle ends.

[0170] Or when the number of walking cycles of the test leg and foot system 1 has reached the set number, the system monitoring module 5 controls the walking controller 1.7 and the working condition setting controller 2.5 to unload and reset the driving elements of the test leg and foot system 1 and the working condition setting module 2, and the walking cycle ends.

[0171] Furthermore, the walking condition simulation system and method proposed in the present invention can not only realize a cyclic motion test of a single condition, but also combine multiple conditions to form a more complex motion test condition.

Claims

1. A leg-type robot walking condition simulation system, characterized in that: The tested leg and foot system, working condition setting module, cyclic motion module, leg and foot posture perception module, system monitoring module and interactive interface are set up; The test leg and foot system is provided with a thigh rod, a shank rod, a foot end, a hip joint, a knee joint, and a hip joint drive cylinder and a knee joint drive cylinder controlled by a walking controller; The working condition setting module includes a hip joint brake and a knee joint brake for limiting the movement of the hip joint and the knee joint, a support unit for constructing the terrain, a working condition data transmission unit for transmitting hip joint brake and knee joint brake information and supporting unit terrain information, and a working condition setting controller for controlling the hip joint brake, the knee joint brake and the supporting unit; The cyclic motion module includes a vertical adjustment mechanism, a longitudinal adjustment mechanism and a simulated vehicle body, the vertical adjustment mechanism carries the longitudinal adjustment mechanism, the longitudinal adjustment mechanism carries the simulated vehicle body, the simulated vehicle body is connected to the tested leg and foot system, and the vertical adjustment mechanism and the longitudinal adjustment mechanism are controlled by the working condition setting controller; The leg and foot posture perception module includes a vertical adjustment displacement sensor, a longitudinal adjustment displacement sensor, a vehicle body vertical displacement sensor, a hip joint piston displacement sensor, a hip joint piston thrust sensor, a knee joint piston displacement sensor, a knee joint piston thrust sensor, a foot end pressure sensor, and a posture data transmission unit for transmitting the motion state information of the leg and foot system under test; The working condition data transmission unit and the posture data transmission unit are connected to the working condition setting controller; The system monitoring module receives information from the posture data transmission unit and the working condition data transmission unit, and displays the information through an interactive interface; at the same time, the system monitoring module controls the walking controller and the working condition setting controller; The interactive interface receives and displays the system status information transmitted by the system monitoring module, and at the same time sets the working conditions and performs manual intervention through the interactive interface.

2. The leg-foot robot walking condition simulation system according to claim 1, characterized in that: The hip joint brake and knee joint brake also include corresponding brake pressure sensors and angular displacement sensors, which are connected to the working condition setting controller.

3. The leg-foot robot walking condition simulation system according to claim 1, characterized in that: The support unit comprises a support panel and a support unit driving cylinder, the piston rod end of the support unit driving cylinder is ball-jointed with the support panel, and the local driving cylinder is sliding ball-jointed with the support panel; An uneven terrain is constructed by arranging several of the support units.

4. The leg-foot robot walking condition simulation system according to claim 1, characterized in that: In the circular motion module, the vertical adjustment mechanism is provided with a vertical drive cylinder, the movable end of which supports the longitudinal adjustment mechanism; The longitudinal adjustment mechanism includes a rodless cylinder body and a rodless cylinder slider, the rodless cylinder slider is slidably arranged on the rodless cylinder body, a vertical guide rod is arranged on the rodless cylinder slider, and the simulated vehicle body is slidably arranged on the vertical guide rod.

5. A method for setting up a walking condition simulation system for a legged robot according to any one of claims 1 to 4, characterized in that: include: Step 100, establishing a kinematic model of the subject's leg and foot system; Step 200, setting walking conditions; Wherein, step 100 comprises: Step 101, establishing a motion coordinate system of the test leg and foot system and the walking condition simulation system; Step 102, determining the position coordinates of the foot end, which are related to the hip joint angle and the knee joint angle; Step 103, based on the correlation between the hip joint angle, the knee joint angle and the extension and contraction amount of the joint drive cylinder, establish the relationship between the foot end position and the extension and contraction amount of the joint drive cylinder; Step 200 includes: setting the terrain through the support unit, setting the position of the tested leg and foot system through the vertical adjustment mechanism, the longitudinal adjustment mechanism and the simulated vehicle body, and setting the walking step length λ1, the walking cycle T1, the number of walking cycles n1 and the walking initial point O of the tested leg and foot system. s1 .

6. The method for setting up a simulation system according to claim 5, characterized in that: In step 101: Establish the simulated vehicle body coordinate system X0Y0Z0 at the intersection of the vertical symmetry center line of the simulated vehicle body and the straight line where the base extension surface is located, with the positive direction of Z0 pointing upward, the positive direction of X0 pointing to the forward direction, and the positive direction of Y0 determined by the right-hand rule; Establish the hip joint coordinate system X1Y1Z1 at the hip joint rotation center, with the positive direction of Z1 along the joint axis and pointing to the right of the forward direction, the positive direction of X1 pointing to the direction of the knee joint, and the positive direction of Y1 determined by the right-hand rule; Establish the knee joint coordinate system X2Y2Z2 at the knee joint rotation center, the positive direction of Z2 is along the joint axis and points to the right of the forward direction, the positive direction of X2 points to the foot end position, and the positive direction of Y2 is determined by the right-hand rule; A cyclic adjustment coordinate system X is established at the intersection of the longitudinal motion axis of the longitudinal adjustment mechanism and the vertical motion axis of the simulated vehicle body. G Y G Z G , the positive direction of each axis is consistent with the positive direction of the simulated vehicle coordinate system X0Y0Z0; Establish the system coordinate system X at the intersection of the vertical drive cylinder axis and the ground at the starting end of the system W Y W Z W , the positive direction of each axis is consistent with the positive direction of the simulated vehicle coordinate system X0Y0Z0; Coordinate system X0Y0Z0, X1Y1Z1, X2Y2Z2, X G Y G Z G and X W Y W Z W The origins of are all in the same plane; In step 102: Using the improved DH parameter method, Transform the parameters of the hip joint and knee joint coordinate systems to the simulated vehicle coordinate system X0Y0Z0 to obtain the position coordinates of the foot end in the simulated vehicle coordinate system X0Y0Z0; Then according to the following parameters: H OC : When the leg-foot system under test is in the support phase, the vertical displacement of the simulated vehicle body in response to the movement is measured by the vehicle body vertical displacement sensor; H GW :Loop adjustment of coordinate system X G Y G Z G and the system coordinate system X W Y W Z W The vertical distance is measured by vertically adjusting the displacement sensor; S GW :Loop adjustment of coordinate system X G Y G Z G and the system coordinate system X W Y W Z W The longitudinal distance is measured by longitudinally adjusting the displacement sensor; Convert the position coordinates of the foot end in the simulated vehicle coordinate system X0Y0Z0 to the system coordinate system X W Y W Z W Down.

7. The method for setting up a simulation system according to claim 5, characterized in that: In step 200, it also includes demarcating a virtual obstacle area on the set terrain; When the foot end of the subject's leg and foot system approaches the virtual obstacle area, the simulated foot end touches the obstacle; When the shank rod or thigh rod of the subject's leg-foot system enters the virtual obstacle area, the simulated leg touches the obstacle; When it is detected that the foot end is located above the virtual obstacle area, the working condition setting controller controls the support unit drive cylinder to extend so that the support panel is flush with the upper surface of the virtual obstacle, simulating the foot end stepping on the upper surface of the obstacle.

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