Obstacle-crossing control method and system for variable-configuration wheel-foot adsorption robot

Abstract

The present invention relates to the technical field of obstacle crossing of a wall-surface adsorption operation robot, and provides a variable configuration wheel-foot adsorption robot obstacle crossing control method and system, the method comprising the following steps: S1: receiving an obstacle crossing instruction, calculating the obstacle height and the leg-lifting height or the stride path; S2: adjusting the initial posture of the robot to approach the obstacle; S3: performing action sequence planning based on the obstacle height; S4: generating a control instruction; S5: executing the obstacle crossing action; S6: judging the obstacle crossing state, if successful, performing subsequent posture adjustment operations; if unsuccessful, correcting the robot posture, returning to S3, and re-planning the action sequence. The present invention realizes configuration switching based on the locking of joint hinges, thereby realizing robot movement and obstacle crossing, without adding additional kinematic pairs, and reducing cumulative errors.

Description

Technical Field

[0001] The present invention relates to the technical field of obstacle crossing of a wall surface adsorption operation robot, and in particular to an obstacle crossing control method and system of a variable configuration wheel-foot adsorption robot. Background Art

[0002] As a special type of industrial robot, the wall-surface adsorption operation robot has been gradually applied to the manufacturing and inspection of large-size surface components, such as aircraft wall panels, launch vehicle tubes, large photovoltaic panels, flat plates, etc. Compared with the traditional operation mode, the wall-surface adsorption operation robot has promoted the transformation of the large-scale complex parts manufacturing mode from "fixed mother machine, mobile parts" to "fixed parts, mobile mother machine" in the spatial dimension, and is gradually becoming an important executive equipment for large-scale surface parts processing.

[0003] The adsorption stability and movement flexibility of the wall adsorption robot are the main indicators of its performance evaluation. Improving the stable adsorption ability often sacrifices the actual operation requirements of the robot such as obstacle crossing and stepping. At the same time, the improvement of movement flexibility often reduces stability, reduces positioning accuracy and thus affects the operation accuracy. The performance conflict between the two brings challenges to the design of the adsorption robot. In order to achieve stable movement and robot obstacle crossing ability, the existing main solution is to achieve it through wheel-foot type. For example, patent document CN107662662A adopts the swing of wheel-driven legs (2) to achieve obstacle crossing, but the obstacle crossing height is limited by the swing amplitude, the body stability is poor when crossing the obstacle, and the obstacle crossing accuracy is low; for another example, patent document CN110962956A discloses a reconfigurable wheel-foot robot based on a parallel modular structure, which adopts a parallel mechanism to achieve foot-type lifting movement to cross obstacles, but the legs (2) are not only complex in structure, but also difficult to control and difficult to maintain, and the space size and mass are difficult to meet the requirements of wall adsorption and obstacle crossing. For example, patent document CN114227142A discloses a three-dimensional subtractive processing method and a processing platform. The design realizes the precision processing of large thin-walled parts through one or more small processing platforms. The design mentions the obstacle crossing function, but the design only mentions the ability to cross obstacles. As for how to reduce errors and accurately cross obstacles, it does not mention. Therefore, the present invention proposes a variable configuration wheel-foot adsorption robot obstacle crossing control method to solve the problem of precise obstacle crossing. Summary of the invention

[0004] In view of the defects in the prior art, the purpose of the present invention is to provide an obstacle crossing control method and system for a variable configuration wheel-foot suction robot.

[0005] According to the present invention, a variable configuration wheel-foot adsorption robot obstacle crossing control method comprises the following steps:

[0006] S1: Receive obstacle crossing instructions, calculate obstacle height and leg lift height or stride path;

[0007] S2: Adjust the initial posture of the robot to approach the obstacle;

[0008] S3: Perform action sequence planning based on obstacle height;

[0009] S4: Generate control instructions;

[0010] S5; execute obstacle crossing action;

[0011] S6: Determine the obstacle crossing status. If successful, perform subsequent posture adjustment operations; if unsuccessful, correct the robot's posture, return to S3, and re-plan the action sequence.

[0012] Preferably, the action sequence planning adopts a combination of wheeled movement and outrigger lifting obstacle crossing action sequence or a combination of wheeled movement and outrigger stepping obstacle crossing action sequence.

[0013] Preferably, a combined obstacle-crossing action sequence of wheeled travel and outrigger lifting is adopted, which specifically includes the following steps:

[0014] S31: Lock all hinges on the three wheels, move the three wheels as a whole, adjust the initial position of the robot, and make the A wheel close to the obstacle;

[0015] S32: Stable support of wheel foot B, wheel foot C, and auxiliary foot D, lock all corresponding motion hinges of auxiliary foot D and wheel foot B and wheel foot C; unlock the local hinge of the leg to which wheel foot A belongs; weaken the adsorption force of wheel foot A, shorten the length of the two branches corresponding to wheel foot A so that wheel foot A is separated from the wall. Height, where Height greater than obstacle height ;

[0016] S33: B wheel foot, C wheel foot, D auxiliary foot support, the whole machine moves forward , so that the wheel A completely passes over the obstacle, and ensures that the wheel A still passes over the obstacle after it is reset;

[0017] S34: lengthen the lengths of the two branches corresponding to the A wheel foot so that the A wheel foot contacts the wall, enhance the adsorption force of the A wheel foot and lock the A wheel foot to keep it adsorbed to the wall stably, and lock all the hinges of the legs to which the A wheel foot belongs;

[0018] S35: A wheel foot, B wheel foot, C wheel foot drive, the whole machine continues to move forward ;

[0019] S36: The A wheel foot, the B wheel foot, and the C wheel foot are driven, and the whole machine rotates at a certain angle with the D auxiliary foot as the center so that the B wheel foot approaches the obstacle;

[0020] S37: A wheel foot, C wheel foot, D auxiliary foot stabilize support, lock D auxiliary foot and all corresponding motion hinges of A wheel foot and C wheel foot; unlock the local hinge of the leg to which B wheel foot belongs; weaken the adsorption force of B wheel foot, shorten the length of the two branches corresponding to B wheel foot so that B wheel foot is separated from the wall to high, Height greater than obstacle height ;

[0021] S38: A wheel foot, C wheel foot drive, D auxiliary foot support, the whole machine moves forward , so that wheel B completely passes over the obstacle and ensures that it still passes over the obstacle after reset;

[0022] S39: Adjust the length of the two branches corresponding to the B wheel foot to make the B wheel foot contact the wall, enhance the adsorption force of the B wheel foot and lock it to keep the B wheel foot adsorbed stably, and lock all the hinges of the legs to which the B wheel foot belongs;

[0023] S310: A wheel foot, B wheel foot, D auxiliary foot stabilize the support, lock the D auxiliary foot and all the corresponding motion hinges of A wheel foot and B wheel foot; unlock the local hinge of the leg to which C wheel foot belongs; weaken the adsorption force of C wheel foot, shorten the length of the two branches corresponding to C wheel foot so that C wheel foot is separated from the wall to high, Height greater than obstacle height ;

[0024] S311: A wheel foot, B wheel foot drive, D wheel foot auxiliary support, the whole machine moves forward , so that the C wheel foot completely crosses the obstacle, and ensures that it still crosses the obstacle after resetting; lengthen the length of the two branch chains corresponding to the C wheel foot so that the C wheel foot contacts the wall, enhance the adsorption force of the C wheel foot, lock it to maintain stable adsorption, and lock all the hinges of the legs to which the C wheel foot belongs;

[0025] S312: The A wheel foot, the B wheel foot, and the C wheel foot are driven, and the whole machine rotates a certain angle with the D auxiliary foot as the center and returns to the initial direction.

[0026] Preferably, the combination of wheeled travel and outrigger stride over obstacles is adopted, which specifically includes the following steps:

[0027] M1: Lock all hinges, move the three wheels as a whole, adjust the initial position of the robot, and make wheel A close to the obstacle;

[0028] M2: A wheel foot, B wheel foot, C wheel foot drive, the whole machine rotates a certain angle with D auxiliary foot as the center, so that A wheel foot and B wheel foot approach obstacles and the whole machine moves forward ;

[0029] M3: A wheel foot, C wheel foot, D auxiliary foot for stable support, lock D auxiliary foot and all motion hinges of A wheel foot and C wheel foot; unlock the local hinge of the leg to which B wheel foot belongs, weaken the adsorption force of B wheel foot, adjust the length of the two branches corresponding to B wheel foot to make B wheel foot detach from the wall and completely cross the obstacle, the lifting height should be greater than the height of the obstacle , and reset the B wheel foot to contact the wall, enhance the adsorption force of the B wheel foot, and maintain stable adsorption;

[0030] M4: Stable support of wheel B, wheel C, and auxiliary wheel D. Lock all corresponding motion hinges of auxiliary wheel D, wheel B, and wheel C. Unlock the local hinge of the leg to which wheel A belongs, weaken the adsorption force of wheel A, and adjust the length of the two branches corresponding to wheel A to make wheel A leave the wall and completely cross the obstacle. The lifting height should be greater than the height of the obstacle. , enhance the adsorption force of wheel A and maintain stable adsorption;

[0031] M5: Stable support of wheel feet A, C and B, lock all the motion hinges of wheel feet A, C and B; adjust the length of the intermediate shaft to make auxiliary foot D detach from the wall and lift up, the lifting height is greater than the height of the obstacle ; The A wheel foot and the B wheel foot drive the whole machine forward so that the D auxiliary foot passes the obstacle and then the D auxiliary foot is reset and contacts the wall;

[0032] M6: A wheel foot, D auxiliary foot, B wheel foot stable support, lock D auxiliary foot and all motion hinges of A wheel foot and B wheel foot; unlock the local hinge of the leg to which C wheel foot belongs; weaken the adsorption force of C wheel foot, shorten the length of the two branches corresponding to C wheel foot to make C wheel foot detach from the wall and lift up, and the maximum lifting height is greater than the obstacle height ; The A-wheel foot and the B-wheel foot drive the whole machine forward so that the C-wheel foot completely passes the obstacle and resets, thus enhancing the adsorption force of the C-wheel foot and maintaining stable adsorption;

[0033] M7: A wheel foot, C wheel foot, D auxiliary foot stable support, lock D auxiliary foot and all motion hinges of A wheel foot and C wheel foot, unlock the local hinge of the leg to which B wheel foot belongs, adjust the length of the two branches corresponding to B wheel foot to make B wheel foot leave the wall and reset after stepping, enhance the adsorption force of B wheel foot, and maintain stable adsorption;

[0034] M8: The B wheel foot, C wheel foot, and D auxiliary foot provide stable support, and all the moving hinges of the D auxiliary foot, B wheel foot, and C wheel foot are locked; the local hinges of the outriggers to which the A wheel foot belongs are unlocked, and the lengths of the two branches corresponding to the A wheel foot are adjusted to make the A wheel foot detach from the wall and reset after stepping, thereby enhancing the adsorption force of the A wheel foot and maintaining stable adsorption.

[0035] Preferably, each of the A wheel foot, the B wheel foot, and the C wheel foot has a leg, each of the legs includes two branches, each of the branches is provided with a moving pair located in the middle and a total of 5 rotating pairs located on both sides of the moving pair, which are named 1# rotating pair, 2# rotating pair, 3# rotating pair, moving pair, 4# rotating pair, and 5# rotating pair from top to bottom;

[0036] The axes of the 1# rotating pair and the 4# rotating pair are parallel, the axes of the 2# rotating pair and the 5# rotating pair are parallel, and the local hinge includes the 1# rotating pair, the 2# rotating pair, the 4# rotating pair, and the 5# rotating pair.

[0037] According to a variable configuration wheel-foot adsorption robot obstacle crossing control system provided by the present invention, a structure of arranging 3 legs and 1 auxiliary foot under the loading platform is adopted, and wheels are installed at the ends of the legs, namely, wheel foot A, wheel foot B, wheel foot C, and auxiliary foot D. Each leg includes 2 branches, and 6 branches are combined in pairs to form 3 legs, including:

[0038] The drive system controller is responsible for controlling the drive motors of the A wheel foot, the B wheel foot, the C wheel foot, the 6 parallel mobile auxiliary drive motors, and the D auxiliary foot mobile auxiliary drive motor;

[0039] The controllable hinge controller is responsible for supplying power and controlling the rotating pairs of each branch chain to switch the rotating pairs on the branch chain between the locked state and the unlocked state;

[0040] The adsorption system controller is responsible for adjusting the adsorption force of the three-wheel or three-wheel base.

[0041] The main control machine is connected to the drive system controller, controllable hinge controller, and adsorption system controller signals respectively, receives sensor data, command issuance, and action sequence control issuance, and sends instructions to each controller to control the robot body to perform obstacle crossing operations.

[0042] Preferably, each of the branch chains is provided with a moving pair in the middle and five rotating pairs on both sides of the moving pair, which are named rotating pair #1, rotating pair #2, rotating pair #3, moving pair, rotating pair #4, rotating pair #5 from top to bottom.

[0043] The axes of the 1# rotating pair and the 4# rotating pair are parallel, the axes of the 2# rotating pair and the 5# rotating pair are parallel, and the local hinge includes the 1# rotating pair, the 2# rotating pair, the 4# rotating pair, and the 5# rotating pair;

[0044] The locking may be in any of the following forms:

[0045] Mechanical locking;

[0046] Friction locking.

[0047] Preferably, 6 degrees of freedom of movement can be achieved;

[0048] The obstacle path can be realized in any of the following line types:

[0049] Polyline segment;

[0050] Multi-order polynomial curves;

[0051] Rounded rectangle;

[0052] Spline curve.

[0053] Preferably, the axes of the 1# rotating pair and the 4# rotating pair are arranged in parallel and in the same plane, and the axes of the 2# rotating pair and the 5# rotating pair are arranged in parallel and in the same plane.

[0054] Preferably, the robot can be adsorbed to the wall by at least one wheel or wheel base to enable the robot to move, wherein the adsorption force can be adjusted;

[0055] The adsorption method can be in any of the following forms:

[0056] One-sided electromagnetic adsorption;

[0057] Double-sided electromagnetic adsorption;

[0058] Negative pressure adsorption;

[0059] Bionic grappling hook;

[0060] Chemical adsorption.

[0061] Preferably, the robot can adopt a wheeled mobile robot configuration, a parallel kinematic platform configuration or a legged robot configuration;

[0062] When all the moving joints and rotating joints are in the locked state, the robot is a three-wheeled mobile robot that can achieve plane and curved surface rotation and translation motion;

[0063] When all the moving joints and rotating joints are unlocked, the robot is a six-degree-of-freedom motion platform, which can adjust the posture of the platform and the middle auxiliary foot by adjusting the length of the legs;

[0064] When all the moving joints and rotating joints in the two legs are in the locked state, the 1# rotating joint, 2# rotating joint, 4# rotating joint, and 5# rotating joint in the remaining legs are in the locked state, the robot's wheeled leg lifting and stepping movements can be realized.

[0065] Compared with the prior art, the present invention has the following beneficial effects:

[0066] 1. The present invention realizes configuration switching based on the locking of joint hinges, thereby realizing robot movement and obstacle crossing, without adding additional kinematic pairs, thereby reducing cumulative errors.

[0067] 2. The present invention is based on the principles of wall adsorption and joint locking. When the single-point adsorption force and stability are sufficient, there is no need for three-point support. One-point support can also complete the robot movement and obstacle crossing. In addition, wheel-driven positioning and parallel mechanism positioning are used to achieve coarse and fine positioning, thereby improving positioning accuracy.

[0068] 3. The intermediate shaft of the present invention can adopt a composite operation unit to realize platform movement and operation, and can realize multiple functions.

[0069] 4. The present invention adopts a parallel configuration with high rigidity and strong stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0071] Figure 1 A schematic diagram of the robot obstacle surmounting method provided by the present invention;

[0072] Figure 2 This is a schematic diagram of the structure of the variable configuration robot provided by the present invention, wherein the dotted frame is a schematic diagram of the structure of two branches;

[0073] Figure 3 is a schematic top view of the robot in the present invention;

[0074] Figure 4 This is a schematic diagram of the outrigger lifting;

[0075] Figure 5 A schematic diagram of a sequence of wheeled travel and outrigger lifting combined obstacle-crossing actions provided by the present invention;

[0076] Figure 6 A schematic diagram of a leg stepping over an obstacle provided by the present invention;

[0077] Figure 7 A schematic diagram of a wheeled walking and outrigger stepping combined obstacle-crossing action sequence provided by the present invention;

[0078] Figure 8 A schematic diagram of the action-sequence planning-control encapsulation frame provided by the present invention;

[0079] Fig. 9 A schematic diagram of an obstacle crossing control system provided by the present invention;

[0080] Fig.10 It is a schematic diagram of the structural arrangement of the rotating pair and the moving pair in the support leg of the present invention;

[0081] Fig.11 It is a schematic diagram of the structure of lifting and overcoming obstacles of the present invention;

[0082] Fig.12It is a schematic diagram of a controllable RR collocation to form a non-coaxial U universal joint;

[0083] Fig.13 Schematic diagram of the controllable RR combination to form a coaxial U universal joint.

[0084] The figure shows:

[0085] Stage 1

[0086] Leg 2

[0087] Round 3

[0088] Motion Plane 4

[0089] Drive system controller 5

[0090] Controllable hinge controller 6

[0091] Adsorption system controller 7

[0092] Main control machine 8 DETAILED DESCRIPTION

[0093] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0094] Basic Example:

[0095] The present invention provides a control method for obstacle crossing of a variable configuration wheel-foot adsorption robot, which can realize the robot configuration switching by locking local joints, and realize the overall obstacle crossing motion function by coordinating wheel-style movement with foot-style lifting and striding, such as Figure 1 As shown, the following steps are included:

[0096] S1: Receive obstacle crossing instructions, calculate obstacle height and leg lift height or stride path;

[0097] S2: Adjust the initial posture of the robot to approach the obstacle;

[0098] S3: Perform action sequence planning based on obstacle height, the action sequence planning adopts a combination of wheeled travel and outrigger 2 lifting obstacle action sequence or a combination of wheeled travel and outrigger 2 stepping obstacle action sequence;

[0099] S4: Generate control instructions;

[0100] S5; execute obstacle crossing action;

[0101] S6: Determine the obstacle crossing status. If successful, perform subsequent posture adjustment and operation planning. If unsuccessful, correct the robot's posture, return to S3, and re-plan the action sequence.

[0102] The present invention also provides a variable configuration wheel-foot adsorption robot obstacle crossing control system, which adopts a structure in which three legs 2 and one auxiliary foot are arranged under a loading platform 1, and wheels 3 are installed at the ends of the legs 2, which are respectively wheel foot A, wheel foot B, wheel foot C, and auxiliary foot D. Each leg 2 includes two branches, and the six branches are combined in pairs to form three legs 2. Wheel foot A, wheel foot B, and wheel foot C each have a leg 2, and each of the branches is arranged with a moving pair located in the middle and a total of five rotating pairs located on both sides of the moving pair, which are named 1# rotating pair, 2# rotating pair, 3# rotating pair, moving pair, 4# rotating pair, and 5# rotating pair from top to bottom, that is, a 6-RRRPRR structure, wherein R represents a rotating pair, and P represents a moving pair; the axes of the 1# rotating pair and the 4# rotating pair are parallel and arranged in the same plane, and the axes of the 2# rotating pair and the 5# rotating pair are parallel and arranged in the same plane, such as Figure 8 , Fig. 9 As shown, it also includes a drive system controller 5, a controllable hinge controller 6, an adsorption system controller 7, and a main control machine 8, wherein the drive system controller 5 is responsible for controlling the drive motors of the A wheel foot, the B wheel foot, and the C wheel foot, the 6 parallel mobile sub drive motor, and the D auxiliary foot mobile sub drive motor; the controllable hinge controller 6 is responsible for power supply and controlling the rotational pairs of each branch chain to realize the switching of each rotational pair on the branch chain between the locked state and the unlocked state, wherein the locking can be in any of the following forms:

[0103] Mechanical locking, such as latch type, ratchet type, clutch type, hydraulic type, etc.;

[0104] Friction locking, for example, bistable type, one-way clutch type, sliding brake type, static balance brake type, worm gear brake type, winch brake type, magnetic wheel engagement type, etc.

[0105] The adsorption system controller 7 is responsible for adjusting the adsorption force of the three wheels or the three-wheel base. The main control machine 8 is connected to the drive system controller 5, the controllable hinge controller 6, and the adsorption system controller 7 respectively, and receives sensor data, command release, and action sequence control release. The main control machine 8 sends instructions to each controller to control the robot body to perform obstacle crossing operations. Among them, the obstacle crossing path can realize any of the following line types:

[0106] Polyline segment;

[0107] Multi-order polynomial curves;

[0108] Rounded rectangle;

[0109] Spline curve.

[0110] The robot can move by adsorbing at least one wheel 3 or wheel base to the wall, wherein the adsorption force can be adjusted, and the adsorption method can be any of the following forms:

[0111] Single-sided electromagnetic adsorption uses a single machine and a magnetic conductive plate, that is, the robot is only located on one side of the wall, and the wall is made of magnetic conductive material;

[0112] Double-sided electromagnetic adsorption uses two machines, that is, the robots are located on both sides of the wall, and the wall is made of magnetic conductive material or non-magnetic conductive material;

[0113] Negative pressure adsorption;

[0114] Bionic grappling hook;

[0115] Chemical adsorption.

[0116] The obstacle control system in the present invention is a universal wheel mobile robot configuration with three wheels and 6-RRRPRR parallel branches. The configuration is that the three wheels are arranged at 120 degrees to achieve omnidirectional wheeled movement of the whole machine; 6-RRRPRR is used to form a 6-degree-of-freedom platform to achieve 6-degree-of-freedom movement of the loading platform 1; the 6 branches are combined in pairs to form three legs, wheels 3 are installed at the ends of the legs, and the upper ends are connected to the loading platform 1; the local hinges of the combined legs are parallel and arranged in the same plane, and the local rotating pair R can be set to lock, and the leg configuration can be realized through local locking; the intermediate shaft moving pair P and the universal wheel are used to realize auxiliary support.

[0117] The variable configuration wheel-foot adsorption robot can be adsorbed on the wall through the wheel 3 or the wheel base. For example, if the wall is made of magnetic material, the wheel can be set as a magnetic wheel, or the wheel base can be installed with a magnetic force generating device, or the wheel base can be installed with a negative pressure adsorption device; if the wall is made of non-magnetic conductive material, the wheel base can be installed with a negative pressure adsorption device, or a symmetrical arrangement inside and outside the wall can be adopted while using a magnetic wheel / magnetic force generating device, so that the robot can be adsorbed on the wall and move forward, and the adsorption force can be adjusted at the same time.

[0118] The robot can adopt a wheeled mobile robot configuration, a parallel kinematic platform configuration or a legged robot configuration;

[0119] When all the moving pairs and rotating pairs are in the locked state, the robot is a three-wheeled mobile robot, which can realize plane and curved surface rotation and translation movement. The intermediate shaft P pair and the universal wheel can participate in the movement or not, and only serve as auxiliary passive support;

[0120] When all the moving joints and rotating joints are in unlocked state, the three wheels and the wheel base are stably adsorbed to the wall due to their adsorption force, and the robot is a six-degree-of-freedom motion platform, which can adjust the posture of the platform 1 and the middle auxiliary foot by adjusting the length of the legs 2;

[0121] The three wheels 3 and the wheel base are adsorbed on the wall, such as Figure 3 , Figure 4 As shown in the figure, when all the moving pairs and rotating pairs in the two legs 2 are in the locked state, the 1# rotating pair, 2# rotating pair, 4# rotating pair, and 5# rotating pair in the remaining legs 2 are in the locked state, the robot wheel-foot leg 2 can be lifted and stepped, because the second R is the rotational freedom and does not affect the double-branch movement, then the configuration can be identified as 2-RPR on the coplane. Under this configuration, the leg degree of freedom is 3, and the wheel foot can be rotated around the x-axis, y-axis and z-axis. By adjusting the wheel foot adsorption force and the branch length, the robot wheel-foot leg can be lifted, stepped and other movements, thereby achieving obstacle crossing.

[0122] It should be noted that the connection between the 1# rotating pair and the 2# rotating pair, and the 4# rotating pair and the 5# rotating pair can be adopted in various ways, such as Fig.12 The structure shown in the figure forms a controllable RR collocation to form a non-coaxial U universal joint, and then for example, Fig.13 The structure shown forms a controllable RR combination to form a coaxial U universal joint, in which RR are all locked to form a non-rotatable rigid body; one of RR is locked to form a single rotating pair; RR are not locked to form a universal joint pair.

[0123] Embodiment 1:

[0124] This embodiment is a preferred example of Embodiment 1.

[0125] In this embodiment, the action sequence planning adopts a combination of wheeled travel and leg 2 lifting obstacle crossing action sequence, such as Figure 5 As shown, the specific steps include:

[0126] S31: Lock all hinges on the three wheels, move the three wheels as a whole, adjust the initial position of the robot, and make the A wheel close to the obstacle;

[0127] S32: Stable support of wheel foot B, wheel foot C, and auxiliary foot D, lock all corresponding motion hinges of auxiliary foot D and wheel foot B and wheel foot C; unlock the local hinge of leg 2 of wheel foot A; weaken the adsorption force of wheel foot A, and shorten the length of the two branches corresponding to wheel foot A , Make wheel A leave the wall until Height, where Height greater than obstacle height , wherein the local hinge includes 1# rotation pair, 2# rotation pair, 4# rotation pair, and 5# rotation pair;

[0128] S33: B wheel foot, C wheel foot, D auxiliary foot support, the whole machine moves forward , so that the wheel A completely passes over the obstacle, and ensures that the wheel A still passes over the obstacle after it is reset;

[0129] S34: Lengthen the A wheel foot to correspond to the length of the two branch chains , Make the foot of wheel A contact the wall, enhance the adsorption force of wheel A and lock it to keep wheel A adsorbed on the wall stably, and lock all hinges of leg 2 to which wheel A belongs;

[0130] S35: A wheel foot, B wheel foot, C wheel foot drive, the whole machine continues to move forward ;

[0131] S36: The A wheel foot, the B wheel foot, and the C wheel foot are driven, and the whole machine rotates at a certain angle with the D auxiliary foot as the center so that the B wheel foot approaches the obstacle;

[0132] S37: A wheel foot, C wheel foot, D auxiliary foot stable support, lock D auxiliary foot and all corresponding motion hinges of A wheel foot and C wheel foot; unlock the local hinge of leg 2 of B wheel foot; weaken the adsorption force of B wheel foot, shorten the length of the two branches corresponding to B wheel foot , Make wheel B leave the wall until high, Height greater than obstacle height ;

[0133] S38: A wheel foot, C wheel foot drive, D auxiliary foot support, the whole machine moves forward , so that wheel B completely passes over the obstacle and ensures that it still passes over the obstacle after reset;

[0134] S39: Lengthen the B wheel foot to correspond to the length of the two branch chains , Make the B wheel foot contact the wall, enhance the adsorption force of the B wheel foot and lock it to keep the B wheel foot adsorbed stably, and lock all hinges of the leg 2 to which the B wheel foot belongs;

[0135] S310: A wheel foot, B wheel foot, D auxiliary foot stable support, lock D auxiliary foot and all corresponding motion hinges of A wheel foot and B wheel foot; unlock the local hinge of leg 2 of C wheel foot; weaken the adsorption force of C wheel foot, shorten the length of the two branches corresponding to C wheel foot , Make the C wheel foot leave the wall until high, Height greater than obstacle height ;

[0136] S311: A wheel foot, B wheel foot drive, D wheel foot auxiliary support, the whole machine moves forward , so that the C wheel foot completely crosses the obstacle and ensures that it still crosses the obstacle after resetting; lengthen the C wheel foot to correspond to the length of the two branch chains , Make the C wheel foot contact the wall, enhance the adsorption force of the C wheel foot, lock and maintain stable adsorption, and lock all hinges of the leg 2 to which the C wheel foot belongs;

[0137] S312: The A wheel foot, the B wheel foot, and the C wheel foot are driven, and the whole machine rotates a certain angle with the D auxiliary foot as the center and returns to the initial direction.

[0138] Embodiment 2:

[0139] This embodiment is another preferred example of Embodiment 1.

[0140] In this embodiment, the action sequence planning adopts wheeled walking and two-legged stride combination obstacle crossing, such as Figure 6 , Figure 7 As shown, the specific steps include:

[0141] M1: Lock all hinges, move the three wheels as a whole, adjust the initial position of the robot, and make wheel A close to the obstacle;

[0142] M2: A wheel foot, B wheel foot, C wheel foot drive, the whole machine rotates a certain angle with D auxiliary foot as the center, so that A wheel foot and B wheel foot approach obstacles and the whole machine moves forward ;

[0143] M3: Stable support for wheel foot A, wheel foot C, and auxiliary foot D, lock all the motion hinges of auxiliary foot D and wheel foot A and wheel foot C; unlock the local hinge of leg 2 of wheel foot B, weaken the adsorption force of wheel foot B, and adjust the length of the two branches corresponding to wheel foot B , Make wheel B leave the wall and completely pass over the obstacle. The lifting height should be greater than the height of the obstacle. , and the B wheel foot is reset to contact the wall, enhancing the adsorption force of the B wheel foot and maintaining stable adsorption. It should be noted that since the hinges are arranged in parallel and coplanar, the movement range of the B wheel foot is constrained within the movement plane 4, as shown in Figure 2 As shown, wheel B can land at any point on the intersection of the coplanar surface and the bottom circle, and is initially set at the intersection of the intersection and the bottom circle. ;

[0144] M4: Stable support for wheel foot B, wheel foot C, and auxiliary foot D, lock all corresponding motion hinges of auxiliary foot D and wheel foot B and wheel foot C; unlock the local hinge of leg 2 of wheel foot A, weaken the adsorption force of wheel foot A, and adjust the length of the two branches corresponding to wheel foot A , Make wheel A leave the wall and completely pass over the obstacle. The lifting height should be greater than the height of the obstacle. , enhance the adsorption force of wheel foot A and maintain stable adsorption. Note that, since the hinges are parallel and coplanar, the motion range of wheel foot A is constrained within motion plane 4, as shown in Figure 2 As shown, therefore, the wheel A can land at any point on the intersection line of the motion plane 4 and the bottom circle, and is initially set at the intersection point A1 of the intersection line and the bottom circle;

[0145] M5: Stable support of wheel feet A, C and B, lock all the motion hinges of wheel feet A, C and B; adjust the length of the intermediate shaft to make auxiliary foot D detach from the wall and lift up, the lifting height is greater than the height of the obstacle ; The A wheel foot and the B wheel foot drive the whole machine forward so that the D auxiliary foot passes the obstacle and then the D auxiliary foot is reset and contacts the wall;

[0146] M6: Stable support of wheel foot A, auxiliary foot D, and wheel foot B, lock all the motion hinges of auxiliary foot D and wheel foot A and wheel foot B; unlock the local hinge of leg 2 of wheel foot C; weaken the adsorption force of wheel foot C, and shorten the length of the two branches corresponding to wheel foot C , Make the C wheel foot leave the wall and lift up, the maximum lifting height is greater than the height of the obstacle ; The A-wheel foot and the B-wheel foot drive the whole machine forward so that the C-wheel foot completely passes the obstacle and resets, thus enhancing the adsorption force of the C-wheel foot and maintaining stable adsorption;

[0147] M7: A wheel foot, C wheel foot, D auxiliary foot stable support, lock D auxiliary foot and A wheel foot, C wheel foot all motion hinges, unlock B wheel foot to the leg 2 partial hinge, adjust the B wheel foot corresponding to the two branch chain length , Make the B wheel foot leave the wall and reset after stepping, enhance the adsorption force of the B wheel foot and maintain stable adsorption;

[0148] M8: Stable support for wheel foot B, wheel foot C, and auxiliary foot D, lock all the motion hinges of auxiliary foot D, wheel foot B, and wheel foot C; unlock the local hinge of leg 2 of wheel foot A, and adjust the length of the two branches corresponding to wheel foot A , The A-wheel foot is separated from the wall and reset after stepping, thereby enhancing the adsorption force of the A-wheel foot and maintaining stable adsorption.

[0149] The present invention is based on a 6-RRRPRR parallel robot variable configuration strategy, R can be set to a locked state and an unlocked state, and each branch chain rotation pair is as follows Fig.10 , Fig.11 The numbers from top to bottom are R(#1), R(#2), R(#3), R(#4, R(#5). The premise of this configuration is:

[0150] When the local revolving pairs of the double-branched chain 2-R(#1)R(#2)R(#3)PR(#4)R(#5) that make up one leg are arranged in the same plane (the #1 and #4 revolving pairs are located on the same plane, and the axes of the #2 and #5 revolving pairs are perpendicular to the plane), as follows Fig.10 shown.

[0151] When R(#1), R(#2), R(#4), R(#5) and the moving pair P of the two legs 4-RRRPRR are locked, and the local hinges of the remaining legs 2-RRRPRR are locked (#1 and #4 are locked), a new robot leg configuration 2-RRPR is obtained, that is, 2-R(#2)R(#3)PR(#5). Because R(#3) is a self-rotation and does not affect the movement of the wheel foot at the end of the double-branch chain, this configuration can be identified as 2-RPR on the same plane.

[0152] That is, the robot can realize the configuration transformation from 6-RRRPRR to 2-RPR. In the 6-RRRPRR configuration, the robot can present Stewart parallel motion; in the 2-RPR configuration, the robot's legs can move arbitrarily in the same plane. In this configuration, the wheel feet at the end of the legs composed of double branches can realize the movement in the same plane, such as Fig.11 shown.

[0153] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0154] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A variable configuration wheel-foot adsorption robot obstacle crossing control method, characterized in that: The steps include: S1: Receive obstacle crossing instructions, calculate obstacle height and leg lift height or stride path; S2: Adjust the initial posture of the robot to approach the obstacle; S3: Perform action sequence planning based on obstacle height; S4: Generate control instructions; S5: perform obstacle crossing action; S6: Determine the obstacle crossing status, and if successful, perform subsequent posture adjustment operations; If unsuccessful, correct the robot’s posture, return to S3, and re-plan the action sequence; The action sequence planning adopts a wheeled walking and outrigger (2) lifting combined obstacle crossing action sequence or a wheeled walking and outrigger (2) stepping combined obstacle crossing action sequence, the wheel-foot adsorption robot comprises an A wheel foot, a B wheel foot, a C wheel foot and a D auxiliary foot, the A wheel foot, the B wheel foot and the C wheel foot each comprise a outrigger (2), and each of the outriggers (2) comprises two branch chains; The obstacle crossing action sequence using wheeled travel and outrigger (2) lifting combination specifically includes the following steps: S31: Lock all hinges on the three wheels, move the three wheels as a whole, adjust the initial position of the robot, and make the A wheel close to the obstacle; S32: Wheel foot B, wheel foot C, and auxiliary foot D provide stable support, lock auxiliary foot D and all corresponding motion hinges of wheel foot B and wheel foot C; unlock the local hinge of the leg (2) to which wheel foot A belongs; weaken the adsorption force of wheel foot A, shorten the length of the two branches corresponding to wheel foot A so that wheel foot A is detached from the wall. Height, where Height greater than obstacle height ; S33: B wheel foot, C wheel foot, D auxiliary foot support, the whole machine moves forward , so that the wheel A completely passes over the obstacle, and ensures that the wheel A still passes over the obstacle after it is reset; S34: lengthen the lengths of the two branches corresponding to the foot of wheel A so that the foot of wheel A contacts the wall, enhance the adsorption force of the foot of wheel A and lock the foot of wheel A to keep it adsorbed to the wall stably, and lock all hinges of the legs (2) to which the foot of wheel A belongs; S35: A wheel foot, B wheel foot, C wheel foot drive, the whole machine continues to move forward ; S36: A wheel foot, B wheel foot, C wheel foot drive, the whole machine rotates a certain angle with D auxiliary foot as the center so that B wheel foot approaches the obstacle; S37: Wheel foot A, wheel foot C, and auxiliary foot D provide stable support, lock auxiliary foot D and all corresponding motion hinges of wheel foot A and wheel foot C; unlock the local hinge of the leg (2) to which wheel foot B belongs; weaken the adsorption force of wheel foot B, shorten the length of the two branches corresponding to wheel foot B so that wheel foot B is separated from the wall. high, Height greater than obstacle height ; S38: A wheel foot, C wheel foot drive, D auxiliary foot support, the whole machine moves forward , so that wheel B completely passes over the obstacle and ensures that it still passes over the obstacle after reset; S39: lengthen the lengths of the two branches corresponding to the B wheel foot so that the B wheel foot contacts the wall, enhance the adsorption force of the B wheel foot and lock it to keep the B wheel foot adsorbed stably, and lock all hinges of the branch leg (2) to which the B wheel foot belongs; S310: The A wheel foot, B wheel foot, and D auxiliary foot provide stable support, lock the D auxiliary foot and all the corresponding motion hinges of the A wheel foot and B wheel foot; unlock the local hinge of the leg (2) to which the C wheel foot belongs; weaken the adsorption force of the C wheel foot, shorten the length of the two branches corresponding to the C wheel foot so that the C wheel foot is separated from the wall. high, Height greater than obstacle height ; S311: A wheel foot, B wheel foot drive, D wheel foot auxiliary support, the whole machine moves forward , so that the C wheel foot completely passes over the obstacle and ensures that it still passes over the obstacle after resetting; lengthen the length of the two branch chains corresponding to the C wheel foot so that the C wheel foot contacts the wall, enhance the adsorption force of the C wheel foot, lock it to maintain stable adsorption, and lock all hinges of the legs (2) to which the C wheel foot belongs; S312: The A wheel foot, the B wheel foot, and the C wheel foot are driven, and the whole machine rotates a certain angle with the D auxiliary foot as the center and returns to the initial direction; The obstacle surmounting action sequence using wheeled walking and outrigger (2) stepping combination includes the following steps: M1: Lock all hinges, move the three wheels as a whole, adjust the initial position of the robot, and make wheel A close to the obstacle; M2: A wheel foot, B wheel foot, C wheel foot drive, the whole machine rotates a certain angle with D auxiliary foot as the center, so that A wheel foot and B wheel foot approach obstacles and the whole machine moves forward ; M3: Stable support of wheel foot A, wheel foot C, and auxiliary foot D. Lock all the motion hinges of auxiliary foot D and wheel foot A and wheel foot C. Unlock the local hinge of the leg (2) to which wheel foot B belongs, weaken the adsorption force of wheel foot B, and adjust the length of the two branches corresponding to wheel foot B so that wheel foot B is separated from the wall and completely crosses the obstacle. The lifting height should be greater than the height of the obstacle. , adjust the length of the two branches corresponding to the B wheel foot and reset the B wheel foot to contact the wall, enhance the adsorption force of the B wheel foot and maintain stable adsorption; M4: Stable support for wheel foot B, wheel foot C, and auxiliary foot D. Lock all corresponding motion hinges of auxiliary foot D and wheel foot B and wheel foot C. Unlock the local hinge of the leg (2) to which wheel foot A belongs, weaken the adsorption force of wheel foot A, and adjust the length of the two branches corresponding to wheel foot A so that wheel foot A is separated from the wall and completely crosses the obstacle. The lifting height should be greater than the height of the obstacle. , adjust the length of the two branches corresponding to the A wheel foot and reset the A wheel foot to contact the wall, enhance the adsorption force of the A wheel foot, and maintain stable adsorption; M5: Stable support of wheel feet A, C and B, lock all the motion hinges of wheel feet A, C and B; adjust the length of the intermediate shaft to make auxiliary foot D detach from the wall and lift up, the lifting height is greater than the height of the obstacle ; The A wheel foot and the B wheel foot drive the whole machine forward so that the D auxiliary foot passes the obstacle and then the D auxiliary foot is reset and contacts the wall; M6: Stable support of wheel foot A, auxiliary foot D, and wheel foot B; lock all the motion hinges of auxiliary foot D and wheel foot A and wheel foot B; unlock the local hinge of the leg (2) to which wheel foot C belongs; weaken the adsorption force of wheel foot C, shorten the length of the two branches corresponding to wheel foot C so that wheel foot C is separated from the wall and lifted, and the maximum lifting height is greater than the height of the obstacle ; The A-wheel foot and the B-wheel foot drive the whole machine forward so that the C-wheel foot completely passes the obstacle and resets, thus enhancing the adsorption force of the C-wheel foot and maintaining stable adsorption; M7: Stable support of wheel foot A, wheel foot C, and auxiliary foot D. Lock all the motion hinges of auxiliary foot D and wheel foot A and wheel foot C. Unlock the local hinges of the supporting leg (2) of wheel foot B. Adjust the length of the two branches corresponding to wheel foot B so that wheel foot B is separated from the wall and reset after stepping. Enhance the adsorption force of wheel foot B and maintain stable adsorption. M8: Stable support of wheel foot B, wheel foot C, and auxiliary foot D, lock all the motion hinges of auxiliary foot D and wheel foot B and wheel foot C; unlock the local hinge of the leg (2) to which wheel foot A belongs, adjust the length of the two branches corresponding to wheel foot A so that wheel foot A leaves the wall and resets after stepping, enhance the adsorption force of wheel foot A, and maintain stable adsorption; Each of the branch chains is provided with a moving pair in the middle and five rotating pairs on both sides of the moving pair, which are named as 1# rotating pair, 2# rotating pair, 3# rotating pair, moving pair, 4# rotating pair and 5# rotating pair from top to bottom; The axes of the 1# rotating pair and the 4# rotating pair are parallel, the axes of the 2# rotating pair and the 5# rotating pair are parallel, and the local hinge includes the 1# rotating pair, the 2# rotating pair, the 4# rotating pair, and the 5# rotating pair.

2. A variable configuration wheel-foot adsorption robot obstacle crossing control system, characterized in that: The method of claim 1 is adopted, and a structure is adopted in which three legs (2) and one auxiliary foot are arranged under the loading platform (1), wheels are installed at the ends of the legs (2), namely, wheel foot A, wheel foot B, wheel foot C, and auxiliary foot D, each leg (2) comprises two chains, and six chains are combined in pairs to form three legs (2), comprising: A drive system controller (5) is responsible for controlling the drive motors of the A wheel foot, the B wheel foot, the C wheel foot, the 6 parallel mobile auxiliary drive motor, and the D auxiliary foot mobile auxiliary drive motor; A controllable hinge controller (6) is responsible for supplying power and controlling the rotating pairs of each branch chain so as to switch the rotating pairs on the branch chain between a locked state and an unlocked state; The adsorption system controller (7) is responsible for adjusting the adsorption force of the three-wheel or three-wheel base. The main control machine (8) is respectively connected to the drive system controller (5), the controllable hinge controller (6), and the adsorption system controller (7) by signals, receives sensor data, command releases, and action sequence control releases, and sends commands to each controller to control the robot body to perform obstacle crossing operations.

3. The variable configuration wheel-foot adsorption robot obstacle crossing control system according to claim 2 is characterized in that: Each of the branch chains is provided with a moving pair in the middle and five rotating pairs on both sides of the moving pair, which are named as 1# rotating pair, 2# rotating pair, 3# rotating pair, moving pair, 4# rotating pair and 5# rotating pair from top to bottom; The axes of the 1# rotating pair and the 4# rotating pair are parallel, the axes of the 2# rotating pair and the 5# rotating pair are parallel, and the local hinge includes the 1# rotating pair, the 2# rotating pair, the 4# rotating pair, and the 5# rotating pair; The locking may be in any of the following forms: Mechanical locking; Friction locking.

4. The variable configuration wheel-foot adsorption robot obstacle crossing control system according to claim 3 is characterized in that: The wheel-foot adsorption robot can achieve 6 degrees of freedom movement; The axes of the 1# rotating pair and the 4# rotating pair are arranged parallel and coplanar, and the axes of the 2# rotating pair and the 5# rotating pair are arranged parallel and coplanar; The obstacle path can be realized in any of the following line types: Polyline segment; Multi-order polynomial curves; Rounded rectangle; Spline curve.

5. The variable configuration wheel-foot adsorption robot obstacle crossing control system according to claim 3 is characterized in that: The robot can move by adsorbing to the wall through at least one wheel or wheel base, wherein the adsorption force can be adjusted; The adsorption method can be in any of the following forms: One-sided electromagnetic adsorption; Double-sided electromagnetic adsorption; Negative pressure adsorption; Bionic grappling hook; Chemical adsorption.

6. The variable configuration wheel-foot adsorption robot obstacle crossing control system according to claim 3, characterized in that: The robot can adopt a wheeled mobile robot configuration, a parallel kinematic platform configuration or a legged robot configuration; When all the moving joints and rotating joints are in the locked state, the robot is a three-wheeled mobile robot that can achieve plane and curved surface rotation and translation motion; When all the moving joints and rotating joints are in the unlocked state, the robot is a six-degree-of-freedom motion platform, and the loading platform (1) and the middle auxiliary foot can be adjusted by adjusting the length of the legs (2); When all the moving pairs and rotating pairs in two legs (2) are in a locked state, the 1# rotating pair and the 5# rotating pair in the remaining legs (2) are in a locked state, so that the robot wheeled leg (2) can be lifted and stride.

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