A method, device and medium for adjusting the posture of a semi-wheel-foot type obstacle crossing mechanism
By calculating the wheel arm calibration angle and adjusting the posture based on the backward and forward processes of the half-wheeled obstacle crossing mechanism's own motion information, the problem of the half-wheeled obstacle crossing mechanism being unable to adjust autonomously in front of steps is solved, achieving rapid and stable obstacle crossing posture adjustment and improving the robustness and stability of the mechanism.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HANGZHOU EBOYLAMP ELECTRONICS CO LTD
- Filing Date
- 2023-12-05
- Publication Date
- 2026-07-24
AI Technical Summary
In existing technologies, half-wheeled obstacle-crossing mechanisms cannot autonomously adjust their posture before encountering steps, making it difficult to ensure that the half-wheel is in the ideal state to cross the steps. Existing visual recognition and 3D reconstruction methods suffer from low accuracy, poor robustness, and insufficient real-time performance.
By analyzing the motion information of the semi-wheeled obstacle-crossing mechanism itself, the process is divided into backward and forward movements. The backward and forward distances are calculated, and the attitude is adjusted by calibrating the wheel arm angle. This ensures that the mechanism is at its maximum obstacle-crossing height at the front edge of the step, preventing it from getting stuck on the step.
It enables rapid, simple, and stable adjustment of the attitude of the half-wheeled obstacle-crossing mechanism, reduces the impact of external environmental interference, and improves the robustness and stability of the mechanism in complex environments.
Smart Images
Figure CN117799722B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of computer technology, and specifically to a posture adjustment method for a half-wheeled, foot-type obstacle-crossing mechanism. Background Technology
[0002] With the continuous advancement of robotics technology, the demand for robots or obstacle-crossing vehicles and other mobile platforms to perform complex tasks in various environments is growing. In particular, obstacle crossing or stair climbing by mobile platforms has always been a technical challenge for scientists and engineers. As a new type of structure, the wheel-legged structure combines the advantages of the high speed of wheeled structures and the flexibility of legged structures, and has begun to appear in some specific applications, such as search and rescue in compact spaces, and exploration and inspection of irregular terrain.
[0003] Currently, existing wheel-foot structures include two main forms: full-wheel-foot and half-wheel-foot. However, compared to full-wheel-foot obstacle-crossing mechanisms, half-wheel-foot obstacle-crossing mechanisms are gaining increasing attention as a novel type of obstacle-crossing mechanism because they can more flexibly adjust their posture and trajectory when traversing irregular terrain, making them easier to handle complex environments. However, research on half-wheel-foot obstacle-crossing mechanisms is still in its early stages, particularly regarding the methods used to overcome obstacles. Currently, it is not possible to autonomously adjust the state of the half-wheel-foot obstacle-crossing mechanism before it crosses an obstacle. Specifically, since the rotation of the half-wheel before encountering a step is random, it is difficult to guarantee that the half-wheel-foot obstacle-crossing mechanism will be in the ideal state to allow it to step onto the step when it reaches it. Many technical challenges remain to be overcome.
[0004] To address this, existing technologies typically combine AI algorithms (such as visual recognition and path planning) to correct the pose of the target mobile platform through visual recognition and target 3D reconstruction, as exemplified by Chinese patent CN113867333A, "A Quadruped Robot Stair Climbing Planning Method Based on Visual Perception and Its Application." However, on mobile platforms with fixed camera positions, the cameras used for visual perception often cannot see the position of their own wheels, making it impossible to determine the wheel status visually. Installing dedicated cameras to sense wheel status requires mounting them at the bottom of the platform, which is susceptible to environmental interference (such as mud, sand, or sewage), leading to a decrease in the accuracy and robustness of the visual recognition and target 3D reconstruction algorithms. Furthermore, the posture adjustment system based on visual recognition and target 3D reconstruction is relatively complex, affecting the real-time performance of the obstacle-crossing mechanism. Therefore, relying on visual recognition and target 3D reconstruction for posture adjustment control of obstacle-crossing mechanisms has many drawbacks. Summary of the Invention
[0005] To address the aforementioned technical problems, this invention proposes a method, device, and medium for adjusting the posture of a half-wheeled, foot-type obstacle-crossing mechanism. The aim is to achieve rapid adjustment of the mechanism's posture based on its own motion information, thereby avoiding the influence of the external environment to a certain extent and significantly reducing the complexity of posture adjustment for the half-wheeled, foot-type obstacle-crossing mechanism.
[0006] Therefore, the present invention adopts the following technical solution: a posture adjustment method for a half-wheel-foot obstacle-crossing mechanism, wherein the half-wheel-foot obstacle-crossing mechanism includes two wheel arms connected to each other at one end, the two wheel arms always moving in opposite directions, and a half-wheel is installed at the other end of each wheel arm, the two half-wheels always remaining relatively positioned during rotation, including the following steps:
[0007] Control the half-wheel obstacle-crossing mechanism to travel to the front edge of the step, and determine whether the half-wheel is stuck on the step. If the half-wheel is not stuck, control the mechanism to continue traveling; if the half-wheel is stuck on the step, proceed to the next step:
[0008] The half-wheel that is stuck on the step is designated as the first half-wheel. The control mechanism reverses to the all-wheel drive mode with the first half-wheel facing the ground, and calculates the reverse distance.
[0009] The other half of the wheel besides the first half of the wheel is referred to as the second half of the wheel. The calculation is performed on the distance required for the second half of the wheel to reach the front edge of the step when the second half of the wheel is at its maximum obstacle-crossing height. The wheel arm calibration angle is used as a variable in the distance. The wheel arm calibration angle represents the wheel arm angle when the second half of the wheel is at its maximum obstacle-crossing height.
[0010] Based on the reversing distance and the advancing distance, determine the wheel arm calibration angle;
[0011] The control mechanism moves forward based on the calibrated angle of the wheel arm.
[0012] Among them, the maximum obstacle-crossing height is the maximum height that a robot or vehicle with a half-wheeled obstacle-crossing mechanism can cross when climbing stairs. It is related to the structural design of the half-wheel itself and is a fixed value. This invention takes the maximum obstacle-crossing height state as the target state for attitude adjustment.
[0013] The technical concept of this invention is as follows: When the half-wheel is stuck on a step, the attitude adjustment process of the half-wheel foot obstacle crossing mechanism when stuck on the step is divided into a backward process and a forward process. First, the backward distance is calculated based on the motion information of the half-wheel foot obstacle crossing mechanism itself. Then, the forward distance required by the mechanism is calculated based on the target state of attitude adjustment. Then, based on the relationship between the forward distance and the backward distance, the wheel arm calibration angle, which is a variable in the forward distance, is determined. Finally, the control mechanism moves forward according to the wheel arm calibration angle, so that when the mechanism travels to the front edge of the step, it is in the maximum obstacle crossing height state and will not be stuck on the step, thereby realizing the rapid adjustment of the attitude of the half-wheel foot obstacle crossing mechanism.
[0014] Compared to methods that rely on complex visual recognition and target 3D reconstruction, the posture adjustment method for a half-wheeled obstacle crossing mechanism proposed in this invention is simpler and more direct, significantly reducing the complexity of posture adjustment. Moreover, this method adjusts posture based on the motion information of the half-wheeled obstacle crossing mechanism itself, greatly reducing the adverse effects that the external environment may bring. Therefore, it has higher robustness and stability in complex environments and has high practical value.
[0015] Preferably, the half-wheel is equipped with a rotation angle sensor and a half-wheel drive motor. Therefore, determining whether the half-wheel is stuck on the step includes:
[0016] The data from the rotation angle sensor is compared with the voltage output of the half-wheel drive motor. If the voltage output of the half-wheel drive motor is normal but the data from the rotation angle sensor does not change, it is determined that the half-wheel is stuck on the step; otherwise, it is determined that the half-wheel is not stuck on the step.
[0017] Preferably, the control mechanism reverses to the all-wheel drive mode with the first half-wheel facing the ground, including:
[0018] The control mechanism reverses until the wheel arm angle merges to 0°. At this point, the first half-wheel and the second half-wheel are on the same axis and begin to drive the first half-wheel and the second half-wheel synchronously, as the all-wheel drive mode.
[0019] Maintaining the all-wheel drive mode, the control mechanism continues to reverse until the angle between the leftmost spoke of the first half wheel and the vertical line is 90°.
[0020] Preferably, the calculation of the backward distance includes:
[0021] Obtain the wheel arm angle when the first half of the wheel is stuck on the step, and the angle between the leftmost spoke and the vertical line;
[0022] Based on the wheel arm angle when the first half-wheel is stuck on the step, the displacement of the wheel arm during the process of the mechanism moving backward to the all-wheel drive mode is calculated and recorded as the first backward displacement.
[0023] Based on the angle between the leftmost spoke of the first half-wheel and the vertical line when the first half-wheel is stuck on the step, calculate the displacement of the first half-wheel during the process of the mechanism moving backward to the all-wheel drive mode and the first half-wheel facing the ground, and record it as the second backward displacement.
[0024] The sum of the first backward displacement, the second backward displacement, and the half-wheel radius is taken as the backward distance.
[0025] Preferably, the expression for the backtracking distance is:
[0026]
[0027] Where H represents the backward distance, β represents the angle between the leftmost spoke and the vertical line when the first half-wheel is stuck on the step, R represents the radius of the half-wheel, and α ′ The angle between the wheel arm and the first half of the wheel is indicated by the step, and L represents the length of the wheel arm.
[0028] Preferably, the distance required for the second half-wheel to reach its maximum obstacle-crossing height when the calculation mechanism travels forward to the leading edge of the step includes:
[0029] Based on the wheel arm calibration angle, the displacement generated by the wheel arm during the process when the second half wheel is in the maximum obstacle-crossing height state when the mechanism moves forward to the front edge of the step is calculated and recorded as the first forward displacement.
[0030] Determine the entry angle when the second half-wheel is at its maximum obstacle clearance height based on the maximum obstacle clearance height.
[0031] Based on the entry angle when the second half-wheel is at its maximum obstacle-crossing height, calculate the displacement of the second half-wheel during the process when the mechanism moves forward to the front edge of the step and the second half-wheel is at its maximum obstacle-crossing height, and record it as the second forward displacement.
[0032] The sum of the first forward displacement, the second forward displacement, and the radius of the wheel hub center is taken as the forward distance.
[0033] Preferably, the expression for the forward distance is:
[0034]
[0035] Among them, H ′ The forward distance is represented by r, the hub center radius is represented by R, the half-wheel radius is represented by α, the wheel arm calibration angle is represented by α, and the wheel arm length is represented by L.
[0036] Preferably, the wheel arm calibration angle is determined based on the reversing distance and the advancing distance, including:
[0037] Based on the fact that the backward distance equals the forward distance, the wheel arm calibration angle, which is a variable in the forward distance, is determined.
[0038] An electronic device, including a processor and a memory;
[0039] The processor is connected to the memory;
[0040] The memory is used to store executable program code;
[0041] The processor reads executable program code stored in the memory and runs a program corresponding to the executable program code to execute a posture adjustment method for a half-wheeled obstacle crossing mechanism as described above.
[0042] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the posture adjustment method of a semi-wheeled obstacle-crossing mechanism as described above.
[0043] The beneficial technical effects of this invention include at least the following: It employs a posture adjustment method, device, and medium for a semi-wheeled, foot-type obstacle-crossing mechanism. By dividing the posture adjustment process when the semi-wheeled, foot-type obstacle-crossing mechanism is stuck on a step into a backward process and a forward process, the backward distance is first calculated based on the motion information of the semi-wheeled, foot-type obstacle-crossing mechanism itself. Then, the required forward distance of the mechanism is calculated based on the target state of posture adjustment. Next, based on the relationship between the forward and backward distances, the wheel arm calibration angle, as a variable in the forward distance, is determined. Finally, the mechanism is controlled to move forward according to the wheel arm calibration angle, ensuring that the mechanism is at its maximum obstacle-crossing height when it reaches the leading edge of the step and is not stuck on the step, thereby achieving rapid posture adjustment of the semi-wheeled, foot-type obstacle-crossing mechanism. Compared to methods relying on complex visual recognition and target 3D reconstruction, the posture adjustment method for a semi-wheeled, foot-type obstacle-crossing mechanism proposed in this invention is simpler and more direct, significantly reducing the complexity of posture adjustment. Moreover, this method adjusts posture based on the motion information of the semi-wheeled, foot-type obstacle-crossing mechanism itself, greatly reducing the adverse effects that the external environment may bring. Therefore, it has higher robustness and stability in complex environments and has high practical value.
[0044] Other features and advantages of the present invention will be disclosed in detail in the following detailed description and accompanying drawings. Attached Figure Description
[0045] The invention will be further described below with reference to the accompanying drawings:
[0046] Figure 1 This is a flowchart of the attitude adjustment method of the half-wheeled foot obstacle crossing mechanism according to an embodiment of the present invention.
[0047] Figure 2This is a schematic diagram illustrating the principle of the backward movement process for attitude adjustment in an embodiment of the present invention.
[0048] Figure 3 This is a schematic diagram illustrating the forward movement principle of attitude adjustment in an embodiment of the present invention.
[0049] Figure 4 This is a schematic diagram of the semi-wheeled obstacle-crossing mechanism according to an embodiment of the present invention.
[0050] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation
[0051] The technical solutions of the embodiments of the present invention will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present invention.
[0052] In the following description, terms such as “inner,” “outer,” “upper,” “lower,” “left,” and “right” are used only to indicate orientation or positional relationship for the convenience of describing the embodiments and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.
[0053] This application provides a posture adjustment method for a semi-wheeled, legged obstacle-crossing mechanism. Please refer to the appendix. Figure 1 To be continued Figure 4 The half-wheeled obstacle-crossing mechanism consists of two wheel arms connected at one end, with the two wheel arms always moving in opposite directions (as shown in the attached diagram). Figure 4 As shown), each wheel arm has a half-wheel mounted at the other end, and the two half-wheels remain relatively aligned during rotation (as shown in the attached diagram). Figure 4 As shown in the figure, in this embodiment, the two wheel arms are the same size, and the two half-wheels are the same size, including the following steps:
[0054] Step 102: Control the half-wheel foot obstacle crossing mechanism to decelerate and travel to the front edge of the step. Determine whether the half-wheel is stuck on the step. If the half-wheel is not stuck on the step, control the mechanism to continue traveling. If the half-wheel is stuck on the step, execute the following attitude adjustment steps, namely steps 104 to 110.
[0055] Understandably, as long as the half-wheel obstacle-crossing mechanism decelerates and approaches the front edge of the step, the front half-wheel must have stepped onto the step with its tire tread facing away from the ground (as shown in the attached diagram). Figure 3(See the last image from top to bottom in the image). If the half-wheel is not stuck on the step, it can maintain its operating state under the drive of the half-wheel drive motor and continue to climb the step. However, if the half-wheel obstacle-crossing mechanism decelerates and reaches the front edge of the step, with the front half-wheel's tire facing the ground, the half-wheel will be blocked by the front edge of the step, resulting in the half-wheel getting stuck (see attached image). Figure 2 (The first image from top to bottom). When the half-wheel is stuck on a step, the attitude adjustment process of the half-wheel foot obstacle crossing mechanism when stuck on the step is divided into a backward process and a forward process.
[0056] Preferably, in this embodiment, the method for determining whether the half-wheeled obstacle crossing mechanism is stuck on the step is also based on the motion information of the half-wheeled obstacle crossing mechanism itself without using a visual recognition system. For example, the methods for determining whether the half-wheeled obstacle crossing mechanism is stuck on the step include, but are not limited to, the following:
[0057] 1. The mechanism is determined to be stuck on a step by monitoring the current change of the half-wheel drive motor that drives the half-wheel obstacle-crossing mechanism. When the half-wheel is stuck on a step, the current change of the half-wheel drive motor is obvious;
[0058] 2. By installing a rotation angle sensor on the half wheel, the data from the rotation angle sensor is compared with the voltage output of the half wheel drive motor. When the drive motor voltage is output normally but the rotation angle does not change, it is determined that the half wheel is stuck on the step.
[0059] 3. Install a position sensor on the mechanism. When the sensor detects that the mechanism itself has no displacement but the drive motor voltage continues to output, it is determined that the half wheel is stuck on the step.
[0060] Step 104: The half-wheel that is stuck on the step is designated as the first half-wheel 1. The control mechanism reverses to the all-wheel drive mode with the first half-wheel 1 facing the ground, and the reverse distance is calculated.
[0061] Specifically, the control mechanism reverses to the all-wheel drive mode with the first half-wheel 1 facing the ground, that is, the control mechanism reverses until the wheel arm angle is 0° (as shown in the attached diagram). Figure 2 (The third picture from the top in the picture), at this time the first half wheel 1 and the second half wheel 2 are on the same axis and start to drive the first half wheel 1 and the second half wheel 2 synchronously, as the all-wheel drive mode;
[0062] Maintaining all-wheel drive mode, the control mechanism continues to reverse until the angle between the leftmost spoke of the first half-wheel 1 and the vertical line is 90° (as shown in the attached diagram). Figure 2 (The last image from top to bottom in the series).
[0063] The specific structural components of a half-wheel typically include a tire, a hub, and a hub center. The hub center, the central part of the hub, is usually used to mount the vehicle's axle, enabling the hub to rotate and transmit power. In this embodiment, the hub center can be used to mount a drive motor, sensors, or a bearing rotatably connected to one end of the wheel arm. The hub also includes a hub shell and spokes. The hub shell, the outer shell of the hub, is usually made of metal and supports the weight of the entire tire and vehicle. The spokes connect the hub shell and the hub center, and are usually spoke-shaped, used to increase structural strength, reduce weight, and aid in heat dissipation. In this embodiment, the leftmost spoke of the first half-wheel 1 is the leftmost spoke-shaped structure connecting the tire to the hub center when the first half-wheel 1 is in the direction where the tire surface faces the ground.
[0064] At this point, the half-wheel foot obstacle crossing mechanism in this embodiment is preferably a half-wheel foot obstacle crossing mechanism with a drive parallel connector set on the half wheel in reference publication number CN116968839A. In the all-wheel drive mode, the two wheel arms are swung to an included angle of 0° by the swing arm drive motor. After that, the swing arm drive motor stops working, the first half wheel 1 and the second half wheel 2 are on the same axis, and the first half wheel 1 and the second half wheel 2 are connected by the drive parallel connector. At this time, the first half wheel 1 and the second half wheel 2 rotate synchronously under the action of the drive parallel connector, and the first half wheel 1 and the second half wheel 2 form a complete wheel structure.
[0065] It is understandable that step 104 is the backward movement process during the attitude adjustment process.
[0066] Step 106: The other half of the wheel besides the first half wheel 1 is designated as the second half wheel 2. The forward distance required for the second half wheel 2 to reach the maximum obstacle-crossing height when the mechanism moves forward to the front edge of the step is calculated. The wheel arm calibration angle is used as a variable in the forward distance. The wheel arm calibration angle represents the wheel arm angle when the second half wheel 2 is at the maximum obstacle-crossing height.
[0067] The maximum obstacle-crossing height refers to the maximum height that a robot or vehicle using a half-wheeled obstacle-crossing mechanism can traverse when climbing stairs. It is a fixed value related to the structural design of the half-wheel itself. Specifically, the maximum obstacle-crossing height... Where R represents the half-wheel radius and r represents the hub center radius. It can be understood that this embodiment uses the maximum obstacle-crossing height as the target state for attitude adjustment.
[0068] Step 108: Determine the wheel arm calibration angle based on the backward distance and the forward distance.
[0069] Optionally, in this embodiment, the methods for determining the wheel arm calibration angle based on the reversing distance and the advancing distance include, but are not limited to, the following:
[0070] 1. Based on the fact that the backward distance is equal to the weighted forward distance, the wheel arm calibration angle, which is a variable in the forward distance, is calculated, where the weight is a preset calibration coefficient;
[0071] 2. Based on the fact that the backward distance is equal to the forward distance, the wheel arm calibration angle, which is a variable in the forward distance, can be calculated directly.
[0072] It is understandable that steps 106-108 are the calculation and analysis processes during the attitude adjustment process.
[0073] Step 110: The control mechanism moves forward based on the wheel arm calibration angle.
[0074] Specifically, the control arm angle swings from 0° in the all-wheel drive mode to the wheel arm calibration angle while driving the half wheel to rotate. After the wheel arm swings to the wheel arm calibration angle, the half wheel continues to rotate at a fixed wheel arm calibration angle, so that the mechanism is at the maximum obstacle crossing height when it travels to the front edge of the step and will not be stuck by the step, thereby realizing the rapid adjustment of the attitude of the half-wheel foot obstacle crossing mechanism.
[0075] It is understandable that step 110 is the forward movement process during attitude adjustment.
[0076] Compared to existing technologies that rely on complex visual recognition and target 3D reconstruction methods, the posture adjustment method for a half-wheeled obstacle crossing mechanism proposed in this embodiment is simpler and more direct, significantly reducing the complexity of posture adjustment for the half-wheeled obstacle crossing mechanism. Moreover, this method adjusts posture based on the motion information of the half-wheeled obstacle crossing mechanism itself, greatly reducing the adverse effects that the external environment may bring. Therefore, it has higher robustness and stability in complex environments and has high practical value.
[0077] In one embodiment of this specification, a rotation angle sensor and a half-wheel drive motor are provided on the half-wheel. Determining whether the half-wheel is stuck on a step includes:
[0078] The data from the rotation angle sensor is compared with the voltage output of the half-wheel drive motor. If the voltage output of the half-wheel drive motor is normal but the data from the rotation angle sensor does not change, it is determined that the half-wheel is stuck on the step; otherwise, it is determined that the half-wheel is not stuck on the step.
[0079] This embodiment compares the data from the rotation angle sensor with the voltage output of the half-wheel drive motor to achieve real-time monitoring of the half-wheel status. It does not rely on camera visual perception and is not easily affected by environmental conditions such as mud and sewage, thus having a certain degree of anti-interference capability. Moreover, it does not require complex visual recognition algorithms, which greatly reduces the complexity of the method for determining whether the half-wheel is stuck on a step.
[0080] In one embodiment of this specification, calculating the backward distance includes:
[0081] Obtain the wheel arm angle when the first half of wheel 1 is stuck on the step (i.e., the angle between the wheel arms). Figure 2 The angle α is marked in the first image from top to bottom. ′ ) and the angle between the leftmost spoke and the vertical line (i.e., the attached) Figure 2 The angle β is marked in the first image from top to bottom in the diagram.
[0082] Based on the wheel arm angle when the first half-wheel 1 is stuck on the step, calculate the displacement of the wheel arm during the process of the mechanism moving backward to the all-wheel drive mode, and record it as the first backward displacement.
[0083] Based on the angle between the leftmost spoke of the first half-wheel 1 and the vertical line when the first half-wheel 1 is stuck on the step, calculate the displacement of the first half-wheel 1 during the process of the mechanism reversing to the all-wheel drive mode and the first half-wheel 1 facing the ground, and record it as the second reversing displacement.
[0084] The sum of the first backward displacement, the second backward displacement, and the radius of half the wheel is taken as the backward distance.
[0085] It is understandable that when half of the wheel is blocked by the front edge of the step, the distance from the axis of the half-wheel to the front edge of the step is the radius of the half-wheel, as shown in the attached diagram. Figure 2 The length R is marked in the first image from top to bottom.
[0086] Compared to existing visual recognition and target 3D reconstruction methods, the method for calculating the backward distance proposed in this embodiment takes into account the wheel arm angle and the angle between the wheel spoke and the vertical line when the first half-wheel 1 is stuck on the step. It combines the displacement of the first half-wheel 1 and the wheel arm during the backward movement of the mechanism to the all-wheel drive mode with the radius of the half-wheel for calculation, thereby improving the accuracy and reliability of the backward distance calculation. The method proposed in this embodiment is based on the physical characteristics and geometric relationships of the mechanism, so it can be applied in different situations and is not limited by specific environments or conditions. Moreover, the calculation process of each step can be verified and calibrated, which helps to ensure the accuracy of the calculation results.
[0087] In one embodiment of this specification, the expression for the backtrack distance is:
[0088]
[0089] Where H represents the backward distance, β represents the angle between the leftmost spoke and the vertical line when the first half-wheel 1 is stuck on the step, R represents the radius of the half-wheel, and α ′ The angle between the wheel arm and the first half of the wheel (1) when it is stuck on the step is indicated by L, which represents the length of the wheel arm.
[0090] In one embodiment of this specification, the distance required for the second half-wheel 2 to reach its maximum obstacle-crossing height when the calculation mechanism travels forward to the leading edge of the step includes:
[0091] The displacement of the wheel arm during the process of the second half-wheel 2 being at the maximum obstacle-crossing height when the mechanism moves forward to the front edge of the step is calculated based on the wheel arm calibration angle, and is recorded as the first forward displacement.
[0092] The entry angle when the second half-wheel 2 is at its maximum obstacle-crossing height is determined based on the maximum obstacle-crossing height. Specifically, the entry angle when the second half-wheel 2 is at its maximum obstacle-crossing height is... As attached Figure 3 The angle marked in the last image from top to bottom.
[0093] Based on the entry angle when the second half-wheel 2 is at its maximum obstacle-crossing height, calculate the displacement of the second half-wheel 2 during the process when the mechanism travels forward to the front edge of the step and the second half-wheel 2 is at its maximum obstacle-crossing height, and record it as the second forward displacement.
[0094] The sum of the first forward displacement, the second forward displacement, and the radius of the wheel hub center is taken as the forward distance.
[0095] In one embodiment of this specification, the expression for the forward distance is:
[0096]
[0097] Among them, H ′ The forward distance is represented by r, the hub center radius is represented by R, the half-wheel radius is represented by α, the wheel arm calibration angle is represented by α, and the wheel arm length is represented by L.
[0098] In one embodiment of this specification, determining the wheel arm calibration angle based on the reversing distance and the forward distance includes:
[0099] Based on the fact that the backward distance equals the forward distance, the wheel arm calibration angle, which is a variable in the forward distance, is determined.
[0100] In summary, the posture adjustment method for a half-wheeled, foot-type obstacle-crossing mechanism proposed in several embodiments of this specification achieves precise control and rapid adjustment of the posture of the half-wheeled, foot-type obstacle-crossing mechanism by calculating the displacement of the wheel arm during the forward and backward movement of the mechanism, and combining parameters such as the wheel arm calibration angle and the entry angle. This improves the ability and flexibility of the half-wheeled, foot-type obstacle-crossing mechanism when facing steps, while ensuring the accuracy and reliability of the mechanism's posture adjustment, and has high practical value.
[0101] One embodiment of this specification also provides an electronic device; please refer to the appendix. Figure 5This includes a processor 501 and a memory 505;
[0102] Processor 501 is connected to memory 505;
[0103] Memory 505 is used to store executable program code;
[0104] The processor 501 reads the executable program code stored in the memory 505 to run the program corresponding to the executable program code, so as to execute a zoom following method for automatic switching of focus curves as described above.
[0105] As attached Figure 5 As shown, the electronic device 500 may include at least one processor 501, at least one network interface 504, a user interface 503, a memory 505, and at least one communication bus 502.
[0106] The communication bus 502 can be used to realize the connection and communication of the above components.
[0107] The user interface 503 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.
[0108] The network interface 504 may include, but is not limited to, Bluetooth modules, NFC modules, Wi-Fi modules, etc.
[0109] The processor 501 may include one or more processing cores. The processor 501 connects to various parts within the electronic device 500 using various interfaces and lines. It executes various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 505, and by calling data stored in the memory 505. Optionally, the processor 501 may be implemented using at least one hardware form of DSP, FPGA, or PLA. The processor 501 may integrate one or more of the following: CPU, GPU, and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 501 and may be implemented as a separate chip.
[0110] The memory 505 may include RAM or ROM. Optionally, the memory 505 may include a non-transitory computer-readable medium. The memory 505 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 505 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 505 may also be at least one storage device located remotely from the aforementioned processor 501. As a computer storage medium, the memory 505 may include an operating system, a network communication module, a user interface module, and a zoom-following application for automatic focus curve switching.
[0111] One embodiment of this specification also provides a computer-readable storage medium storing a computer program that, when executed by processor 501, implements a zoom-following method for automatic focus curve switching as described above. If the various components of the above-described electronic device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.
[0112] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this specification is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Versatile Discs (DVDs)), or semiconductor media (e.g., Solid State Disks (SSDs)).
[0113] The above description is merely a preferred embodiment disclosed in this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of protection involved in this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this disclosure.
[0114] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.
Claims
1. A method for adjusting the posture of a half-wheel-foot obstacle-crossing mechanism, wherein the half-wheel-foot obstacle-crossing mechanism comprises two wheel arms connected at one end to each other, the two wheel arms always moving in opposite directions, and a half-wheel is mounted at the other end of each wheel arm, the two half-wheels always remaining relatively positioned during rotation, characterized in that... Includes the following steps: Control the half-wheel obstacle-crossing mechanism to travel to the front edge of the step, and determine whether the half-wheel is stuck on the step. If the half-wheel is not stuck, control the mechanism to continue traveling; if the half-wheel is stuck on the step, proceed to the next step: The half-wheel that is stuck on the step is designated as the first half-wheel. The control mechanism reverses to the all-wheel drive mode with the first half-wheel facing the ground, and calculates the reverse distance. The other half of the wheel besides the first half of the wheel is referred to as the second half of the wheel. The calculation is performed on the distance required for the second half of the wheel to reach the front edge of the step when the second half of the wheel is at its maximum obstacle-crossing height. The wheel arm calibration angle is used as a variable in the distance. The wheel arm calibration angle represents the wheel arm angle when the second half of the wheel is at its maximum obstacle-crossing height. Based on the reversing distance and the advancing distance, determine the wheel arm calibration angle; The control mechanism moves forward based on the included angle of the wheel arm calibration; The control mechanism reverses to the all-wheel drive mode with the first half-wheel facing the ground, and calculates the reverse distance, including: The control mechanism reverses until the wheel arm angle merges to 0°. At this point, the first half-wheel and the second half-wheel are on the same axis and begin to drive the first half-wheel and the second half-wheel synchronously, as the all-wheel drive mode. Maintaining the all-wheel drive mode, the control mechanism continues to reverse until the angle between the leftmost spoke of the first half-wheel and the vertical line is 90°. Obtain the wheel arm angle when the first half of the wheel is stuck on the step, and the angle between the leftmost spoke and the vertical line; Based on the wheel arm angle when the first half-wheel is stuck on the step, the displacement of the wheel arm during the process of the mechanism moving backward to the all-wheel drive mode is calculated and recorded as the first backward displacement. Based on the angle between the leftmost spoke of the first half-wheel and the vertical line when the first half-wheel is stuck on the step, calculate the displacement of the first half-wheel during the process of the mechanism moving backward to the all-wheel drive mode and the first half-wheel facing the ground, and record it as the second backward displacement. The sum of the first backward displacement, the second backward displacement, and the half-wheel radius is taken as the backward distance.
2. The posture adjustment method of a semi-wheeled obstacle-crossing mechanism as described in claim 1, characterized in that, The half-wheel is equipped with a rotation angle sensor and a half-wheel drive motor. The determination of whether the half-wheel is stuck on the step includes: The data from the rotation angle sensor is compared with the voltage output of the half-wheel drive motor. If the voltage output of the half-wheel drive motor is normal but the data from the rotation angle sensor does not change, it is determined that the half-wheel is stuck on the step; otherwise, it is determined that the half-wheel is not stuck on the step.
3. The posture adjustment method of a semi-wheeled obstacle-crossing mechanism as described in claim 1, characterized in that, The expression for the backward distance is: ， in, Indicates the distance moved backward. This indicates the angle between the leftmost spoke and the vertical line when the first half of the wheel is stuck on the step. Indicates the radius of half the wheel. This indicates the wheel arm angle when the first half of the wheel is stuck on the step. This indicates the length of the wheel arm.
4. The posture adjustment method of a semi-wheeled obstacle-crossing mechanism as described in claim 1, characterized in that, The calculation mechanism determines the distance the second half-wheel needs to travel to its maximum obstacle-crossing height when it reaches the leading edge of the step, including: Based on the wheel arm calibration angle, the displacement generated by the wheel arm during the process when the second half wheel is in the maximum obstacle-crossing height state when the mechanism moves forward to the front edge of the step is calculated and recorded as the first forward displacement. Determine the entry angle when the second half-wheel is at its maximum obstacle clearance height based on the maximum obstacle clearance height. Based on the entry angle when the second half-wheel is at its maximum obstacle-crossing height, calculate the displacement of the second half-wheel during the process when the mechanism moves forward to the front edge of the step and the second half-wheel is at its maximum obstacle-crossing height, and record it as the second forward displacement. The sum of the first forward displacement, the second forward displacement, and the radius of the wheel hub center is taken as the forward distance.
5. The posture adjustment method of a semi-wheeled obstacle-crossing mechanism as described in claim 4, characterized in that, The expression for the forward distance is: ， Among them, H ′ Indicates the distance traveled. Indicates the radius of the wheel hub center. Indicates the radius of half the wheel. This represents the wheel arm calibration angle as a variable. This indicates the length of the wheel arm.
6. The posture adjustment method of a semi-wheeled obstacle-crossing mechanism as described in claim 1, characterized in that, Based on the reversing distance and the advancing distance, the wheel arm calibration angle is determined, including: Based on the fact that the backward distance equals the forward distance, the wheel arm calibration angle, which is a variable in the forward distance, is determined.
7. An electronic device, characterized in that, Including the processor and memory; The processor is connected to the memory; The memory is used to store executable program code; The processor reads executable program code stored in the memory to run a program corresponding to the executable program code, in order to execute the attitude adjustment method of a half-wheeled obstacle crossing mechanism as described in any one of claims 1 to 6.
8. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed by a processor, implements the attitude adjustment method of a semi-wheeled obstacle crossing mechanism as described in any one of claims 1 to 6.