Multi-attitude switching two-wheel foot robot and working method thereof

Abstract

The application discloses a multi-posture switching two-wheel foot robot and a working method thereof, which can replace the posture mode according to different road surface conditions and scene requirements, has strong dynamic motion ability and strong terrain adaptability; when facing flat road surface, the robot can adopt a leg stretching mode or a leg folding mode to move at a relatively high speed, and through control of a hub motor, a hip joint motor and a knee joint motor, the body can be stabilized and the height of the whole vehicle can be adjusted. When facing a narrow channel, such as an underground pipeline or a log bridge, a bicycle mode is switched, and in the posture mode, the robot can realize stable movement by using a very small ground space. When there is an obstacle on the ground driving path, the posture of the body and the leg part can be controlled by adjusting the hub motor, the hip joint motor and the knee joint motor, so that the jumping obstacle crossing function of the robot can be realized, and the robot does not need to additionally detour, thereby improving the driving efficiency of the robot.

Description

TECHNICAL FIELD

[0001] The present application relates to a two-wheel foot robot and a working method thereof, in particular to a two-wheel foot robot capable of multi-pose switching and a working method thereof, and belongs to the technical field of robots. BACKGROUND

[0002] Mobile robots are one of the most active fields of scientific and technological development, and their application range has been greatly expanded, and they have been widely used and concerned in the fields of industry, agriculture, national defense, medical treatment, etc. Ground mobile robots can be divided into wheeled, foot, crawling and tracked types. Although walking robots perform well in overcoming obstacles (such as stairs or slippery ground), they need a lot of time to perform these complex actions when moving. In contrast, wheeled robots are very suitable for flat ground, and they can move smoothly, efficiently and quickly. However, wheeled robots cannot overcome rugged terrain, especially when the obstacle is larger than the wheel radius, resulting in the inability of the wheeled robot to cross.

[0003] As known from the above, robots that can quickly and smoothly maneuver on flat ground and dynamically overcome obstacles are relatively rare. The existing patent document CN110525535A discloses a double-wheel foot hybrid self-balancing robot, and the wheel-leg structure is a four-bar mechanism, which can quickly and smoothly maneuver on flat ground, and can also change a pose, so as to overcome part of the obstacles and continue to travel. However, the drive of the robot is only the hip joint motor and the hub motor, and the overall pose is limited by the four-bar mechanism, resulting in a small degree of freedom of the whole vehicle, and since the knee joint has no driving source, the whole vehicle cannot perform a jumping action or has insufficient power when performing a jumping action, resulting in the robot being able to only continue to travel by detouring when encountering a higher obstacle. Moreover, since the pose is adjusted before and after, the robot can only adjust the height of the robot, and cannot change the width of travel and the travel pose, thereby resulting in a single application scenario of the robot, and the robot cannot adjust the corresponding pose according to the change of different environments, so that the robot can travel in different environments. Therefore, how to provide a new two-wheel foot robot, which can not only adjust the corresponding pose according to the change of the surrounding environment and traffic conditions, but also can continue to travel by jumping over the obstacle when encountering a certain height obstacle during travel, without the need for a long detour to avoid, thereby improving the travel efficiency of the robot, is one of the research directions in the industry. SUMMARY

[0004] In view of the problems in the prior art, the application provides a two-wheeled foot robot capable of switching multiple postures and a working method thereof, which can adjust the posture according to the change of the passing condition of the surrounding environment, thereby being capable of driving in different passing conditions, and when a certain height obstacle is encountered during driving, the robot can jump over the obstacle to continue driving, without needing to make a long detour, thereby improving the driving efficiency of the robot.

[0005] In order to achieve the above-mentioned purpose, the application adopts the technical scheme of a two-wheeled foot robot capable of switching multiple postures, comprising a main body and wheel-leg assemblies symmetrically arranged at the lower part of the two sides of the main body.

[0006] The main body comprises an outer shell, a bottom plate, a counterweight, a rotating shaft, a bearing seat, a counterweight driving motor, a power supply and a control element, the counterweight driving motor is fixed on the bottom plate through a motor support, the bearing seat is two, the two bearing seats are fixed on the bottom plate, the rotating shaft is installed at the two ends of the two bearing seats, so that the rotating shaft can rotate relative to the two bearing seats, one end of the counterweight is fixed on the rotating shaft, and the output end of the counterweight driving motor is connected with one end of the rotating shaft through a shaft coupling, so that the counterweight can be driven to rotate by the rotating shaft when the counterweight driving motor works; the outer shell is fixed on the bottom plate and covers the counterweight driving motor, the power supply and the control element inside the outer shell.

[0007] The wheel-leg assembly comprises a yaw shaft motor, a fixed seat, a hip joint motor, a hip joint flange, a knee joint motor, a thigh assembly, a shank and a hub motor, the yaw shaft motor is fixed on the lower surface of the bottom plate, the fixed seat is installed on the output shaft of the yaw shaft motor, so that the fixed seat can rotate relative to the main body with the output shaft of the yaw shaft motor, the hip joint motor is installed in the fixed seat, and one end of the output shaft of the hip joint motor extends from one side of the fixed seat, the knee joint motor is arranged on one side of the fixed seat and installed on the output shaft of the hip joint motor, the thigh assembly is arranged on one side of the fixed seat, the thigh assembly comprises a crank, a connecting rod and a thigh rod, one end of the thigh rod is fixedly connected with the shell of the knee joint motor, so that the knee joint motor and the thigh rod can rotate relative to the fixed seat when the hip joint motor works, the other end of the thigh rod is hingedly connected with the middle part of the shank, the lower end of the shank is provided with the hub motor, the outer ring of the hub motor is provided with a roller, and the hub motor is used for driving the rotation of the roller; one end of the crank is fixedly connected with the output shaft of the knee joint motor, the other end of the crank is hingedly connected with one end of the connecting rod, the other end of the connecting rod is hingedly connected with the upper end of the shank, the hip joint motor and the knee joint motor can drive the rotation of the thigh rod and the crank, and then the thigh rod can rotate relative to the fixed seat and the shank can rotate relative to the thigh rod.

[0008] The control element is fixed on the bottom plate and inside the shell, and the control element includes an inertial measurement unit, a microcontroller and a receiver, the inertial measurement unit is electrically connected with the microcontroller, for transmitting the attitude information of the main body to the microcontroller in real time during the movement, the receiver is electrically connected with the microcontroller, for transmitting the received control signal to the microcontroller, the microcontroller is electrically connected with the weight driving motor, the yaw shaft motor, the hip joint motor, the knee joint motor and the hub motor respectively, for adjusting the rotation position of the weight block by controlling the weight driving motor according to the data fed back by the inertial measurement unit during the movement, and then adjusting the center of mass of the main body to ensure the running stability of the whole robot; at the same time, when the control signal is received, the attitude of the robot can be adjusted by controlling the yaw shaft motor, the hip joint motor, the knee joint motor and the hub motor to complete the switching of multiple attitudes; and the power supply supplies power to the above-mentioned control element and each motor.

[0009] Further, it further comprises a steering engine, a camera connecting plate, a camera and a nylon column, the steering engine is installed on the upper part of the bottom plate, the output shaft of the steering engine penetrates through the bottom plate to the lower part, the camera connecting plate is fixed on one side of the output shaft of the steering engine, the camera connecting plate is fixed through the nylon column on both sides, the camera is fixed on the other side of the camera connecting plate, the steering engine can drive the camera to rotate to adjust the shooting direction of the camera, and the steering engine is electrically connected with the microcontroller. The addition of this structure enables the robot to have the ability of taking pictures, so that the surrounding environment can be photographed during the movement, and the subsequent acquisition of environmental data is facilitated.

[0010] Further, it further comprises an environment perception module, which comprises one or more of a radar and a depth sensor, the environment perception module is installed on the main body, for identifying the situation of the surrounding environment of the robot and feeding back to the microcontroller, and the microcontroller can automatically adjust the attitude of the robot and monitor the surrounding environment according to the feedback data. By setting the environment perception module and combining the automatic control algorithm, the robot can automatically drive and automatically switch different attitude modes without manual remote control.

[0011] Further, the yaw shaft motor, the hip joint motor and the knee joint motor are all direct current brushless motors. The use of this structure motor not only runs stably, but also has less noise.

[0012] The working method of the above-mentioned two-wheeled foot robot with multiple attitude switching, and the specific steps are as follows:

[0013] A, the staff hand-held remote controller sends control signal to the robot, determines the attitude mode of the robot, the attitude mode of the robot includes the mode of stretching legs, the mode of collecting legs and the mode of bicycle, after the microcontroller receives the control signal, the robot is adjusted to the required attitude mode by controlling yaw axis motor, and the inertial measurement unit is started at the same time, the inertial data of the robot is detected, the data is fed back to the microcontroller, the microcontroller analyzes the data, and the weight driving motor is controlled to adjust the rotating position of the weight block, so as to keep the attitude stability of the robot stable;

[0014] If it is the mode of stretching legs, the yaw axis motor is controlled to rotate to leave a certain gap between the two wheel leg assemblies, and at this time, the roller axes of the two wheel leg assemblies are on the same axis;

[0015] If it is the mode of collecting legs, the yaw axis motor is controlled to rotate to minimize the gap between the two wheel leg assemblies, and the roller axes of the two wheel leg assemblies are on the same axis;

[0016] If it is the mode of bicycle, the yaw axis motor is controlled to rotate to leave a certain gap between the two wheel leg assemblies, and at this time, the rotating directions of the rollers of the two wheel leg assemblies are on the same straight line;

[0017] B, after determining the attitude mode of the robot, the robot starts to drive on the road surface, in the driving process, when passing through different road conditions, the staff sends different control signals to the robot through the remote controller, so that the robot adopts different actions to pass through the current road condition under different road conditions;

[0018] When the robot is in the stretched leg mode or the folded leg mode, the microcontroller reads the attitude information of the robot in real time through the inertial measurement unit when the robot is upright on the flat ground, and controls the two wheel hub motors and the rollers to maintain the upright balance state of the robot; when driving on the flat ground, the microcontroller controls the two wheel hub motors and the rollers to make the center of mass of the robot and the contact point of the rollers and the ground on the same vertical line, and collects the change of the center of mass in real time through the inertial measurement unit, and then the microcontroller adjusts the rotating speed of the wheel hub motor to control the robot to drive stably; when the height of the ground changes in a small range, the staff sends a control signal, at this time the microcontroller controls the hip joint motor and the knee joint motor to rotate to drive the thigh link and the crank to rotate slowly, and then the thigh link can rotate relative to the fixed seat and the lower leg can rotate relative to the thigh link, so as to adjust the body posture, ensure the stability of the robot in the driving process, and adapt to the change of the road surface; when there is an obstacle on the ground, the staff first sends a control signal to make the microcontroller control the hip joint motor and the knee joint motor to rotate slowly to make the robot in the squat energy storage state, and then controls the wheel hub motor to accelerate driving, and then sends a control signal to make the microcontroller control the hip joint motor and the knee joint motor to rotate reversely quickly, at this time the thigh link and the crank rotate reversely quickly, and then the thigh link can rotate relative to the main body and the lower leg can rotate relative to the thigh link quickly, at this time the lower leg and the rollers exert instantaneous force on the ground, and finally the reaction force of the ground makes the robot jump over the obstacle in the jumping posture;

[0019] When the robot is in the bicycle mode, the microcontroller reads the posture information of the robot in real time through the inertial measurement unit when the robot is upright on the flat ground, the microcontroller analyzes the data, and controls the rotation position of the counterweight block of the counterweight driving motor to keep the upright balance state of the robot; when driving on the flat ground, the microcontroller collects the centroid change condition in real time through the inertial measurement unit, and then the microcontroller controls the rotation position of the counterweight block of the counterweight driving motor, adjusts the speed of the wheel hub motor, and controls the robot to drive stably; when the ground height changes in a small range and the robot is in the process of bending the knee, the worker sends a control signal, at this time the microcontroller controls the hip joint motor and the knee joint motor to rotate to drive the thigh link and the crank to rotate, and then the thigh link can rotate relative to the fixed seat, and the lower leg can rotate relative to the thigh link, the body posture is adjusted, the stability of the whole robot in the driving process is ensured, and the change of the road surface is adapted, and the rotation position of the counterweight block of the counterweight driving motor is adjusted to keep the centroid of the robot stable; when the ground appears obstacles, the worker sends a control signal first, so that the microcontroller controls the hip joint motor and the knee joint motor to rotate slowly to make the robot in the squatting energy storage state, and controls the wheel hub motor to accelerate driving, then sends a control signal, so that the microcontroller controls the hip joint motor and the knee joint motor to rotate reversely quickly, at this time the thigh link and the crank rotate reversely quickly, and then the thigh link can rotate relative to the main body, and the lower leg can rotate relative to the thigh link quickly, at this time the lower leg and the roller exert instantaneous force on the ground, and finally the reaction force of the ground makes the robot jump over the obstacles in the jumping posture.

[0020] Compared with the prior art, the robot adopts the combination of the main body and the wheel-leg assemblies symmetrically arranged at the lower parts of the two sides of the main body, and has the following advantages:

[0021] 1、The whole structure of the robot is simple, compact in space, and low in processing cost, and the two-wheel-foot structure formed by the two wheel-leg assemblies has the advantages of zero turning radius, flexible movement and strong robustness.

[0022] 2、The application can replace the adaptive posture mode according to different road conditions and scene requirements, has strong dynamic motion ability and strong terrain adaptability; when facing flat road surface, the robot can adopt the leg stretching mode or the leg folding mode, the robot moves fast, through controlling the hub motor, the hip joint motor and the knee joint motor, the body can be stabilized and the height of the whole vehicle can be adjusted. When facing narrow passages, such as underground pipes or single-log bridges, the application can switch to the bicycle mode, which can realize stable movement of the robot using very small ground space. When there are obstacles on the ground driving path, by adjusting the hub motor, the hip joint motor and the knee joint motor to control the posture of the body and the leg, the jumping obstacle crossing function of the robot can be realized without additional detour. When facing rugged road surface and the road surface height changes non-abruptly, the real-time posture information of the inertial measurement unit is used, the yaw axis motor, the hip joint motor and the knee joint motor are controlled, the body can be stabilized and the vehicle body center can be adjusted. Therefore, the application can not only adjust the posture according to the change of the surrounding environment passing condition, so as to drive under different passing conditions, but also can jump over the obstacle to continue driving when encountering a certain height obstacle during driving, without long detour, thereby improving the driving efficiency of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a whole structure perspective view of the application.

[0024] Figure 2 It is a front view of the leg stretching mode in the application.

[0025] Figure 3 It is an axis side view of the leg stretching mode in the application without shell.

[0026] Figure 4 It is an axis side view of the bicycle mode in the application.

[0027] Figure 5 It is a front view of the bicycle mode in the application.

[0028] Figure 6 It is an axis side view of the leg folding mode in the application.

[0029] Figure 7 It is a front view of the leg folding mode in the application.

[0030] Figure 8 It is a side view of the leg folding mode in the application.

[0031] Figure 9 It is an axis side view of the wheel leg assembly in the application.

[0032] In the figure: 1, the shell, 2, the bottom plate, 3, the counterweight, 4, the counterweight drive motor, 5, the motor support, 6, the shaft coupling, 7, the rotating shaft, 8, the bearing seat, 9, the steering gear, 10, the camera connecting plate, 11, the nylon column, 12, the camera, 13, the control element, 131, the inertial measurement unit, 132, the receiver, 133, the microcontroller, 14, the power supply, 15, the environment perception module, 16, the yaw shaft motor, 17, the fixed seat, 18, the hip joint motor, 19, the hip joint flange, 20, the knee joint motor, 21, the thigh assembly, 211, the crank, 212, the connecting rod, 213, the thigh link, 22, the lower leg, 23, the wheel hub motor. DETAILED DESCRIPTION

[0033] The application will be further described below.

[0034] As Figure 1 shown, a multi-posture switching two-wheel foot robot, comprising a main body and wheel-leg assemblies symmetrically placed on the lower part of both sides of the main body;

[0035] The main body comprises a shell 1, a bottom plate 2, a counterweight 3, a rotating shaft 7, a bearing seat 8, a counterweight drive motor 4, a power supply 14 and a control element 13, the counterweight drive motor 4 is fixed on the bottom plate 2 through the motor support 5, the bearing seat 8 is two, the two bearing seats 8 are fixed on the bottom plate 2, the rotating shaft 7 is installed on the two bearing seats 8 at both ends, so that the rotating shaft 7 can rotate relative to the two bearing seats 8, one end of the counterweight 3 is fixed on the rotating shaft 7, and the output end of the counterweight drive motor 4 is connected with one end of the rotating shaft 7 through the shaft coupling 6, so that the counterweight 3 can be driven to rotate by the rotating shaft 7 when the counterweight drive motor 4 works; the shell 1 is fixed on the bottom plate 2 and covers the counterweight drive motor 4, the power supply 14 and the control element inside it;

[0036] As Figure 9As shown, the wheel leg assembly comprises a yaw shaft motor 16, a fixed seat 17, a hip joint motor 18, a hip joint flange 19, a knee joint motor 20, a thigh assembly 21, a shank 22 and a wheel hub motor 23. The yaw shaft motor 16 is fixed on the lower surface of the base plate 2. The fixed seat 17 is installed on the output shaft of the yaw shaft motor 16, so that the fixed seat 17 can rotate relative to the main body with the rotation of the output shaft of the yaw shaft motor 16. The hip joint motor 18 is installed in the fixed seat 17, and the output shaft of the hip joint motor 18 extends from one side of the fixed seat 17. The knee joint motor 20 is located on one side of the fixed seat 17 and is installed on the output shaft of the hip joint motor 18 through the hip joint flange 19. The thigh assembly 21 is located on one side of the fixed seat 17. The thigh assembly 21 comprises a crank 211, a connecting rod 212 and a thigh rod 213. One end of the thigh rod 213 is fixedly connected with the housing of the knee joint motor 20, so that the knee joint motor 20 and the thigh rod 213 can rotate relative to the fixed seat 17 when the hip joint motor 18 works. The other end of the thigh rod 213 is hingedly connected with the middle part of the shank 22. The wheel hub motor 23 is installed on the lower end of the shank 22. The outer ring of the wheel hub motor 23 is provided with a roller. The wheel hub motor 23 is used to drive the rotation of the roller. One end of the crank 211 is fixedly connected with the output shaft of the knee joint motor 20. The other end of the crank 211 is hingedly connected with one end of the connecting rod 212. The other end of the connecting rod 212 is hingedly connected with the upper end of the shank 22. The hip joint motor 19 and the knee joint motor 20 can drive the thigh rod 21 and the crank 211 to rotate, so as to make the thigh rod 213 rotate relative to the fixed seat 17 and the shank 22 rotate relative to the thigh rod 213. The yaw shaft motor 16, the hip joint motor 18 and the knee joint motor 20 are all DC brushless motors. The motor with the above structure not only runs stably, but also has small noise.

[0037] The control element 13 is fixed on the base plate 2 and located inside the shell 1. The control element 13 comprises an inertial measurement unit 131, a microcontroller 133 and a receiver 132. The inertial measurement unit 131 is electrically connected with the microcontroller 133, for transmitting the attitude information of the main body to the microcontroller 133 in real time during the movement. The receiver 132 is electrically connected with the microcontroller 133, for transmitting the received control signal to the microcontroller 133. The microcontroller 133 is electrically connected with the counterweight driving motor 4, the yaw shaft motor 16, the hip joint motor 18, the knee joint motor 20 and the wheel hub motor 23, respectively. During the movement, the microcontroller 133 can adjust the rotation position of the counterweight block 3 through the control of the counterweight driving motor 4 according to the data fed back by the inertial measurement unit 131, so as to adjust the center of mass of the main body and ensure the running stability of the whole robot. At the same time, when the control signal is received, the microcontroller 133 can adjust the attitude of the robot through the control of the yaw shaft motor 16, the hip joint motor 18, the knee joint motor 20 and the wheel hub motor 23, so as to complete the switching of multiple attitudes. The power supply 14 supplies power to the above control element 13 and each motor.

[0038] As shown in Figure 8 Also includes steering gear 9, camera connecting plate 10, camera 12 and nylon column 11, steering gear 9 is installed on the upper part of the bottom plate 2, the output shaft of the steering gear 9 passes through the bottom plate 2 to the lower side, one side of the camera connecting plate 10 is fixed on the output shaft of the steering gear 9, the two sides of the camera connecting plate 10 are fixed through the nylon column 11, the camera 12 is fixed on the other side of the camera connecting plate 10, the steering gear 9 can drive the camera 12 to rotate, and the shooting direction of the camera 12 is adjusted, and the steering gear 9 is electrically connected with the microcontroller 133. The addition of this structure can make the robot have the ability of taking pictures, so as to take pictures of the surrounding environment during the marching process, which is convenient for subsequent acquisition of environmental data.

[0039] As an improvement of the present application, the environmental perception module 15 includes one or more of radar and depth sensor, and the environmental perception module 15 is installed on the main body, which is used to identify the situation of the surrounding environment of the robot and feed back to the microcontroller 133, and the microcontroller 133 can automatically adjust the posture of the robot according to the feedback data. Through the setting of the environmental perception module 15 and the combination of the automatic control algorithm, the robot can automatically drive and automatically switch different posture modes without manual remote control.

[0040] The working method of the multi-posture switching two-wheel foot robot described above, the specific steps are:

[0041] A, the staff hand-held remote controller sends control signal to the robot, determines the posture mode of the robot, the posture mode of the robot includes the leg opening mode, the leg closing mode and the bicycle mode, the microcontroller 133 receives the control signal, adjusts the robot to the required posture mode through the control of the yaw axis motor 16, and at the same time starts the inertial measurement unit 131 to detect the inertial data of the robot, so that the data is fed back to the microcontroller 133, the microcontroller 133 analyzes the data, and controls the weight driving motor 4 to adjust the rotating position of the weight block 3, so as to keep the posture stability of the robot;

[0042] As shown in Figure 2 And 3 If it is the leg opening mode, the yaw axis motor 16 is controlled to rotate to leave a certain gap between the two wheel leg assemblies, and the roller axes of the two wheel leg assemblies are on the same axis at this time;

[0043] As shown in Figures 6 to 8 If it is the leg closing mode, the yaw axis motor 16 is controlled to rotate to minimize the gap between the two wheel leg assemblies, and the roller axes of the two wheel leg assemblies are on the same axis;

[0044] As shown in Figure 4 And 5As shown, if the mode is bicycle mode, the yaw axis motor 16 is controlled to rotate to leave a certain gap between the two wheel leg assemblies, and at this time the rolling directions of the two wheel leg assemblies are in the same straight line;

[0045] In addition, the robot can perform diagonal movement in the above three posture modes. Diagonal movement refers to the state that the rolling axes of the two wheel leg assemblies are not in the same axis, but are parallel to each other when the robot is in the stretched leg mode or the folded leg mode. At this time, the robot can perform diagonal movement. In the bicycle mode, the rolling directions of the two wheel leg assemblies are not in the same straight line, but are parallel to each other. At this time, the robot can perform diagonal movement.

[0046] B. After determining the posture mode of the robot, the robot starts to travel on the road surface. During the travel, the staff sends different control signals to the robot through the remote controller to make the robot adopt different actions to pass through the current road condition under different road conditions.

[0047] When the robot is in the stretched leg mode or the folded leg mode, the microcontroller 133 reads the posture information of the robot in real time through the inertial measurement unit 131 when the robot is upright on the flat ground, and controls the two hub motors 23 and the rollers to maintain the upright balance state of the robot. When traveling on the flat ground, the microcontroller 133 controls the two hub motors 23 and the rollers to make the center of mass of the robot and the contact point of the rollers and the ground be in the same vertical line, and the microcontroller 133 adjusts the rotating speed of the hub motor 23 to control the stable travel of the robot by collecting the change of the center of mass in real time through the inertial measurement unit 131. When the height of the ground changes within a small range, the staff sends a control signal, and at this time the microcontroller 133 controls the hip joint motor 18 and the knee joint motor 20 to rotate to drive the thigh link 213 and the crank 211 to rotate slowly, and then the thigh link 213 can rotate relative to the fixed seat 17 and the lower leg 22 can rotate relative to the thigh link 213, so as to adjust the body posture, ensure the stability of the robot during travel, and adapt to the change of the road surface. When there is an obstacle on the ground, the staff first sends a control signal to make the microcontroller 133 control the hip joint motor 18 and the knee joint motor 20 to rotate slowly to make the robot in a squatting energy storage state, and then controls the hub motor 23 to accelerate, and then sends a control signal to make the microcontroller 133 control the hip joint motor 18 and the knee joint motor 20 to rotate quickly in the opposite direction. At this time, the thigh link 213 and the crank 211 rotate quickly in the opposite direction, and then the thigh link 213 can rotate quickly relative to the main body and the lower leg 22 can rotate quickly relative to the thigh link 213. At this time, the lower leg 22 and the rollers exert instantaneous force on the ground, and finally the reaction force of the ground makes the robot jump over the obstacle in a jumping posture.

[0048] When the robot is in the bicycle mode, the microcontroller 133 reads the attitude information of the robot in real time through the inertial measurement unit 131 when the robot is upright on the flat ground, analyzes the data, and controls the rotation position of the counterweight block 3 of the counterweight driving motor 4 to maintain the upright balance state of the robot; when driving on the flat ground, the microcontroller 133 collects the centroid change condition in real time through the inertial measurement unit 131, and then the microcontroller 133 controls the rotation position of the counterweight block 3 of the counterweight driving motor 4, adjusts the speed of the wheel hub motor 23, and controls the robot to travel stably; when the ground height changes in a small range and the robot performs the knee bending action during movement, the worker sends a control signal, at this time the microcontroller 133 controls the hip joint motor 18 and the knee joint motor 20 to rotate to drive the thigh link 213 and the crank 211 to rotate, and then the thigh link 213 can rotate relative to the fixed seat 17 and the lower leg 22 can rotate relative to the thigh link 213, adjust the body posture, ensure the stability of the robot during movement, and adapt to the change of the road surface, and at the same time control the rotation position of the counterweight block 3 of the counterweight driving motor 4 to keep the centroid of the robot stable; when the ground has an obstacle, the worker first sends a control signal to make the microcontroller 133 control the hip joint motor 18 and the knee joint motor 20 to slowly rotate to make the robot in a squatting energy storage state, and at the same time control the wheel hub motor 23 to accelerate the movement, then send a control signal to make the microcontroller 133 control the hip joint motor 18 and the knee joint motor 20 to quickly reverse rotation, at this time the thigh link 213 and the crank 211 quickly reverse rotation, and then the thigh link 213 can quickly rotate relative to the main body and the lower leg 22 can quickly rotate relative to the thigh link 213, at this time the lower leg 22 and the roller exert an instantaneous force on the ground, and finally the reaction force of the ground makes the robot jump over the obstacle in a jumping posture.

[0049] The above only describes the preferred embodiments of the present application, and it should be noted that those skilled in the art can make some improvements and refinements without departing from the principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A multi-attitude switching two-wheel foot robot, characterized in that, The main body and the wheel leg assembly symmetrically arranged on the lower part of the main body; The main body comprises a shell, a bottom plate, a counterweight, a rotating shaft, a bearing seat, a counterweight driving motor, a power supply and a control element, the counterweight driving motor is fixed on the bottom plate through a motor support, the bearing seat is two, the two bearing seats are fixed on the bottom plate, the rotating shaft is installed at both ends of the two bearing seats, so that the rotating shaft can rotate relative to the two bearing seats, one end of the counterweight is fixed on the rotating shaft, and the output end of the counterweight driving motor is connected with one end of the rotating shaft through a shaft coupling, so that the counterweight can be driven to rotate by the rotating shaft when the counterweight driving motor works; the shell is fixed on the bottom plate and covers the counterweight driving motor, the power supply and the control element inside the shell; The wheel leg assembly comprises a yaw shaft motor, a fixed seat, a hip joint motor, a hip joint flange, a knee joint motor, a thigh assembly, a lower leg and a wheel hub motor, the yaw shaft motor is fixed on the lower surface of the bottom plate, the fixed seat is installed on the output shaft of the yaw shaft motor, so that the fixed seat can rotate relative to the main body with the output shaft of the yaw shaft motor, the hip joint motor is installed in the fixed seat, and one end of the output shaft of the hip joint motor extends from one side of the fixed seat; the knee joint motor is arranged on one side of the fixed seat and is installed on the output shaft of the hip joint motor; the thigh assembly is arranged on one side of the fixed seat, the thigh assembly comprises a crank, a connecting rod and a thigh rod, one end of the thigh rod is fixedly connected with the housing of the knee joint motor, so that the knee joint motor and the thigh rod can rotate relative to the fixed seat when the hip joint motor works, the other end of the thigh rod is hingedly connected with the middle part of the lower leg, the lower end of the lower leg is provided with the wheel hub motor, the outer ring of the wheel hub motor is provided with a roller, and the wheel hub motor is used for driving the rotation of the roller; one end of the crank is fixedly connected with the output shaft of the knee joint motor, the other end of the crank is hingedly connected with one end of the connecting rod, the other end of the connecting rod is hingedly connected with the upper end of the lower leg, the hip joint motor and the knee joint motor can drive the thigh rod and the crank to rotate, so that the thigh rod can rotate relative to the fixed seat and the lower leg can rotate relative to the thigh rod; The control element is fixed on the bottom plate and arranged in the shell, the control element comprises an inertial measurement unit, a microcontroller and a receiver, the inertial measurement unit is electrically connected with the microcontroller and is used for transmitting the attitude information of the main body to the microcontroller in real time during movement, the receiver is electrically connected with the microcontroller and is used for transmitting the received control signal to the microcontroller, the microcontroller is electrically connected with the counterweight driving motor, the yaw shaft motor, the hip joint motor, the knee joint motor and the wheel hub motor, and is used for adjusting the rotating position of the counterweight through the counterweight driving motor according to the data fed back by the inertial measurement unit during movement, thereby adjusting the center of mass of the main body and ensuring the running stability of the whole robot; when the control signal is received, the attitude of the robot can be adjusted through the yaw shaft motor, the hip joint motor, the knee joint motor and the wheel hub motor, and the switching of multiple attitudes can be completed; and the power supply supplies power to the above control element and each motor.

2. The multi-attitude switched two-wheel foot robot according to claim 1, characterized in that, The yaw motor, the hip joint motor and the knee joint motor are all direct current brushless motors.

3. The multi-attitude switched two-wheel foot robot according to claim 1, characterized in that, The specific steps are:

4. The multi-attitude switched two-wheel foot robot according to claim 1, characterized in that, A, the staff hand-held remote controller sends control signal to the robot, determines the attitude mode of the robot, the attitude mode of the robot includes the leg mode, the leg mode and the bicycle mode, the microcontroller receives the control signal, adjusts the robot to the required attitude mode through the control yaw motor, and starts the inertial measurement unit to detect the inertial data of the robot at the same time, so that the data is fed back to the microcontroller, the microcontroller analyzes the data, and controls the weight driving motor to adjust the rotating position of the weight block, so as to keep the attitude stability of the robot; 5. The working method of the multi-attitude switching two-wheel foot robot according to claim 1, characterized in that, If it is the leg mode, the yaw motor is controlled to rotate to leave a certain gap between the two wheel leg assemblies, and at this time, the roller axes of the two wheel leg assemblies are on the same axis; If it is the leg mode, the yaw motor is controlled to rotate to leave a certain gap between the two wheel leg assemblies, and at this time, the roller axes of the two wheel leg assemblies are on the same axis; If it is the bicycle mode, the yaw motor is controlled to rotate to leave a certain gap between the two wheel leg assemblies, and at this time, the roller axes of the two wheel leg assemblies are on the same axis; B, after determining the attitude mode of the robot, the robot starts to drive on the road surface, and in the driving process, when passing through different road conditions, the staff sends different control signals to the robot through the remote controller, so that the robot adopts different actions to pass through the current road condition under different road conditions; ​ ​ When the robot is in the stretched leg mode or the folded leg mode, the microcontroller reads the posture information of the robot in real time through the inertial measurement unit when the robot is upright on the flat ground, and controls the two wheel hub motors and the rollers to maintain the upright balance state of the robot; when driving on the flat ground, the microcontroller controls the two wheel hub motors and the rollers to make the center of mass of the robot and the contact point of the rollers and the ground on the same vertical line, and the microcontroller collects the change of the center of mass in real time through the inertial measurement unit, and then adjusts the rotating speed of the wheel hub motor to control the robot to drive stably; when the height of the ground changes in a small range, the worker sends a control signal, at this time the microcontroller controls the hip joint motor and the knee joint motor to rotate to drive the thigh link and the crank to rotate slowly, and then the thigh link can rotate relative to the fixed seat and the lower leg can rotate relative to the thigh link, so as to adjust the body posture, ensure the stability of the robot during driving, and adapt to the change of the road surface; when there is an obstacle on the ground, the worker first sends a control signal to make the microcontroller control the hip joint motor and the knee joint motor to rotate slowly to make the robot in the squat energy storage state, and then controls the wheel hub motor to accelerate driving, and then sends a control signal to make the microcontroller control the hip joint motor and the knee joint motor to rotate reversely quickly, at this time the thigh link and the crank rotate reversely quickly, and then the thigh link can rotate relative to the main body and the lower leg can rotate relative to the thigh link quickly, at this time the lower leg and the rollers exert instantaneous force on the ground, and finally the reaction force of the ground makes the robot jump over the obstacle in the jumping posture; When the robot is in the bicycle mode, the microcontroller reads the posture information of the robot in real time through the inertial measurement unit when the robot is upright on the flat ground, the microcontroller analyzes the data, and controls the counterweight driving motor to adjust the rotating position of the counterweight block to maintain the upright balance state of the robot. When running on flat ground, the microcontroller collects the centroid change in real time through the inertial measurement unit, and then the microcontroller controls the rotation position of the counterweight block by the counterweight driving motor, and adjusts the speed control of the wheel hub motor to make the robot run steadily; When the ground height changes in a small range and the knee action in the movement process, the staff sends a control signal, at this time the microcontroller controls the hip joint motor and the knee joint motor to rotate to drive the thigh link and the crank to rotate, and then the thigh link can rotate relative to the fixed seat, and the lower leg can rotate relative to the thigh link, adjust the body posture, ensure the stability of the whole robot in the running process, and adapt to the change of the road surface, and control the rotation position of the counterweight block by the counterweight driving motor to keep the centroid of the robot stable; When there is an obstacle on the ground, the staff first sends a control signal, so that the microcontroller controls the hip joint motor and the knee joint motor to rotate slowly to make the robot in the squat energy storage state, and controls the wheel hub motor to accelerate running, and then sends a control signal, so that the microcontroller controls the hip joint motor and the knee joint motor to rotate quickly in the opposite direction, at this time the thigh link and the crank rotate quickly in the opposite direction, and then the thigh link can rotate quickly relative to the main body, and the lower leg can rotate quickly relative to the thigh link, at this time the lower leg and the roller exert instantaneous force on the ground, and finally the reaction force of the ground makes the robot jump over the obstacle in a jumping posture.

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