A system and method for detecting obstacle contact angle and reaction force of a foot-type walking mechanism

Abstract

A system and method for detecting the obstacle contact angle and reaction force of a foot-type walking mechanism belongs to the field of ground high-mobility walking technology, and solves the problem of how to calculate the obstacle contact angle and reaction force of a foot-type walking mechanism. The technical solution of the present invention supports hardware including strain gauge paving rod studs, wire-wound strain gauges, strain gauge connection lines, and two-channel strain gauges with data output function integrated in the walking mechanism. Based on the bridge circuit solution method, the obstacle contact angle and obstacle reaction force are sensed in real time; the foot-type walking mechanism has an overall oblong rhombus shape and has the function of rotating around its own core axis, so that it can achieve the ability to climb over raised obstacles on the ground; by integrating strain gauges on the foot-type mechanism components to detect strain values, the obstacle contact angle of the mechanism and the reaction force of the obstacle on the foot-type mechanism during the obstacle crossing process are sensed, thereby providing strong data support for the mechanism state control during the obstacle crossing process.

Description

Technical Field

[0001] The present invention belongs to the technical field of high-mobility ground walking, and relates to a system and method for detecting obstacle contact angles and reaction forces of a foot-type walking mechanism. Background Art

[0002] The foot-type walking mechanism has a long and flat appearance and the ability to flip around its own axis under motor drive. It has the advantage of overcoming raised obstacles on the ground. In order to achieve precise motion control of the foot-type walking mechanism during obstacle crossing, it is necessary to obtain the obstacle-touching posture of the foot-type walking mechanism and the characteristic parameters of the force between the foot-type walking mechanism and the obstacle in real time.

[0003] It is difficult to obtain the most direct and effective data by relying solely on motor parameter feedback. Based on the elastic deformation characteristics of plastic materials under external forces, a method based on strain measurement at appropriate locations and numerical solution is used to effectively perceive the state parameters of the foot-type walking mechanism during the obstacle crossing process. Summary of the Invention

[0004] The technical solution of the present invention is used to solve the problem of how to calculate the obstacle contact angle and reaction force of a foot-type walking mechanism.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] A foot-type walking mechanism obstacle contact angle and reaction force detection system, comprising: a first pull rod stud (13), a second pull rod stud (14), a # Working strain gauge, 1 # Environmental compensation sheet, 2 # Working strain gauge, 2 # Environmental compensation film, 3 # Working strain gauge, 4 # Working strain gauges, strain meters;

[0007] The first tie rod stud (13) and the second tie rod stud (14) are symmetrically arranged directly above and directly below the tensioning push rod (11), and are respectively kept parallel to the tensioning push rod (11); both ends of the first tie rod stud (13) and the second tie rod stud (14) are respectively fixedly connected to the tensioning fixed seat (10) and the wing wheel (12);

[0008] The upper and lower surfaces of the column of the first tie rod stud (13) are symmetrically milled with platforms, the front and rear surfaces of the column of the first tie rod stud (13) are symmetrically milled with platforms, and the upper and lower surfaces of the column of the second tie rod stud (14) are symmetrically milled with platforms; # and 2 # The working strain gauges are respectively laid on the milling platforms on the upper and lower surfaces of the column of the first tie rod stud (13). # and 4 #The working strain gauges are respectively laid on the milling platforms on the upper and lower surfaces of the column of the second tie rod stud (14). # and 2 # The environmental compensation sheets are respectively laid on the platforms milled on the front and rear surfaces of the column of the first tie rod stud (13);

[0009] 1 # Working strain gauge, 1 # Environmental compensation sheet, 2 # Working strain gauge, 2 # The environmental compensation pieces are connected end to end in sequence to form a first pair of arm full-bridge circuits, the input end of the first pair of arm full-bridge circuits is connected to the input end of the first channel of the strain gauge, and the output end of the first pair of arm full-bridge circuits is connected to the output port of the first channel of the strain gauge; 3. # Working strain gauge, 4 # The working strain gauge, the first strain gauge internal resistor, and the second strain gauge internal resistor are connected end to end in sequence to form a second pair of arm full-bridge circuit, the input end of the second pair of arm full-bridge circuit is connected to the input end of the second channel of the strain gauge, and the output end of the second pair of arm full-bridge circuit is connected to the output port of the second channel of the strain gauge.

[0010] A detection method using the above-mentioned foot-type walking mechanism obstacle angle and reaction force detection system, when the foot-type walking mechanism hits an obstacle, the pull rod stud bears the axial force component F a and the bending lateral force F s ,Right now:

[0011] F s =F·cosθ,Fa=F·sinθ (1)

[0012] Define the length of the tie rod stud as L, then the bending moment at the tie rod stud working strain gauge laying position is M, that is:

[0013]

[0014] Define the diameter of the tie rod stud as d, the cross-sectional area as A, and the moment of inertia of the area as I, then:

[0015]

[0016] Define the elastic modulus of the tie rod stud as E, 1 # , 2 # , 3 # , 4 # The positive strain of the bending lateral force borne by the working strain gauge is ε σ1 , the tensile and compressive normal strain under the axial force component is ε σ2 ,but:

[0017]

[0018] Definition 1 # , 2 # The strain output of the environmental compensation sheet is ε t , 1 # -4 # The outputs of the working strain gauges are ε1, ε2, ε3, and ε4 respectively. According to the linear superposition characteristics of the strain results, they are:

[0019]

[0020] Among them, ε out1 is the output of the arm full-bridge circuit connected to the first channel of the strain gauge, ε out2 The output of the arm full bridge circuit connected to the second channel of the strain gauge;

[0021] According to the mechanical relationship, the following relationship is obtained:

[0022]

[0023] Thus we can calculate:

[0024]

[0025] Combined with ε out1 and ε out2 The magnitude and direction of the reaction force when the foot-type walking mechanism hits an obstacle are obtained in real time, thereby realizing obstacle perception of the foot-type walking mechanism.

[0026] An electronic device includes a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the above-mentioned detection method, and the processor is configured to execute the program stored in the memory.

[0027] A storage medium stores a computer program, wherein the computer program executes the steps of the above-mentioned detection method when executed by a processor.

[0028] The advantages of the present invention are:

[0029] The technical solution of the present invention supports hardware including strain gauge paving rod studs, wire-wound strain gauges, strain gauge connection lines, and two-channel strain gauges with data output function integrated in the walking mechanism. Based on the bridge circuit solution method, it can sense the obstacle contact angle and the reaction force of the obstacle in real time; the foot-type walking mechanism has an overall oblong rhombus shape and has the function of rotating around its own core axis, so that it can achieve the ability to climb over raised obstacles on the ground; by integrating strain gauges on the foot-tracking mechanism components to detect strain values, the obstacle contact angle of the mechanism and the reaction force of the obstacle on the foot-tracking mechanism during the obstacle crossing process are sensed, thereby providing strong data support for the mechanism state control during the obstacle crossing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is the main view of the foot-type walking mechanism;

[0031] Figure 2 It is a front view of the foot-type walking mechanism;

[0032] Figure 3 This is a partial enlarged view of the right side of the foot-type walking mechanism;

[0033] Figure 4 This is a partial enlarged view of the left side of the foot-type walking mechanism;

[0034] Figure 5 This is a partial enlarged front view of the foot-type walking mechanism;

[0035] Figure 6 This is the schematic diagram of the arm full-bridge circuit connected to the first channel of the strain gauge;

[0036] Figure 7 This is the schematic diagram of the arm full bridge circuit connected to the second channel of the strain gauge;

[0037] Figure 8 It is a schematic diagram of solving the mechanical relationship of the foot-type walking mechanism. DETAILED DESCRIPTION

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0039] The technical solution of the present invention is further described below with reference to the accompanying drawings and specific embodiments:

[0040] Example 1

[0041] like Figures 1 to 4 As shown, the foot-type walking mechanism obstacle angle and reaction force detection system of this embodiment includes: a first pull rod stud (13), a second pull rod stud (14), 1 # Working strain gauge, 1 # Environmental compensation sheet, 2 # Working strain gauge, 2 # Environmental compensation film, 3 # Working strain gauge, 4 # Working strain gauges, strain meters;

[0042] The tensioning fixed seat (10) and the wing wheel (12) are fixedly connected by a tensioning push rod (11); the first pull rod stud (13) and the second pull rod stud (14) are symmetrically arranged directly above and directly below the tensioning push rod (11), and are respectively kept parallel to the tensioning push rod (11); both ends of the first pull rod stud (13) and the second pull rod stud (14) are fixedly connected to the tensioning fixed seat (10) and the wing wheel (12), respectively.

[0043] like Figure 5 As shown, the upper and lower surfaces of the column of the first tie rod stud (13) are symmetrically milled with platforms, the front and rear surfaces of the column of the first tie rod stud (13) are symmetrically milled with platforms, and the upper and lower surfaces of the column of the second tie rod stud (14) are symmetrically milled with platforms; 1 # and 2 # The working strain gauges are respectively laid on the milling platforms on the upper and lower surfaces of the column of the first tie rod stud (13). # and 4 # The working strain gauges are respectively laid on the milling platforms on the upper and lower surfaces of the column of the second tie rod stud (14). # and 2 # The environmental compensation sheets are respectively laid on the platforms milled on the front and rear surfaces of the column of the first drawbar stud (13).

[0044] like Figure 6 As shown, 1 # Working strain gauge, 1 # Environmental compensation sheet, 2 # Working strain gauge, 2 # The environmental compensation pieces are connected end to end in sequence to form the first pair of arm full bridge circuits; 1 # Working strain gauge with 2 # The common connection point of the environmental compensation plate is point A, 1 # Working strain gauge with 1 # The common connection point of the environmental compensation plate is point B, 1 # Environmental compensation sheet and 2 # The common connection point of the working strain gauge is point C, 2 # Working strain gauge with 2 # The common connection point of the environmental compensation sheet is point D, the A and C ends are connected to the input end of the first channel of the strain gauge, and the B and D ends are connected to the output port of the first channel of the strain gauge.

[0045] like Figure 7 As shown, 3 # Working strain gauge, 4 # The working strain gauge, the first strain gauge internal resistor, and the second strain gauge internal resistor are connected end to end in sequence to form a second pair of arm full bridge circuit; 3. # The common connection point between the working strain gauge and the internal resistor of the second strain gauge is point E, 3# Working strain gauge with 4 # The common connection point of the working strain gauge is point F, 4 # The common connection point between the working strain gauge and the first strain gauge internal resistor is point G, the common connection point between the first strain gauge internal resistor and the second strain gauge internal resistor is point H, the E and G terminals are connected to the input terminal of the second channel of the strain gauge, and the F and H terminals are connected to the output port of the second channel of the strain gauge.

[0046] The foot-type walking mechanism realizes rotational motion around the axis of the mechanism under the driving action of its own motor. When the front end of the foot-type walking mechanism touches a raised obstacle on the ground, the mechanism performs a climbing action under the action of the motor torque. At the same time, the obstacle will generate a reaction force at the contact part with the foot-type walking mechanism. The magnitude and direction of the reaction force directly affect the stress characteristics of the first tie rod stud (13) and the second tie rod stud (14). The working strain gauges and environmental compensation plates laid on the two tie rod studs bear the tensile and compressive effects and bending moments from the reaction force of the obstacle, resulting in elastic deformation.

[0047] Example 2

[0048] like Figure 8 As shown, the method for detecting the obstacle contact angle and reaction force of the foot-type walking mechanism of this embodiment is as follows:

[0049] When the foot-type walking mechanism hits an obstacle, the tie rod stud bears the axial force component F a and the bending lateral force F s ,Right now:

[0050] F s =F·cosθ,Fa=F·sinθ (1)

[0051] Define the length of the tie rod stud as L, then the bending moment at the tie rod stud working strain gauge laying position is M, that is:

[0052]

[0053] Define the diameter of the tie rod stud as d, the cross-sectional area as A, and the moment of inertia of the area as I, then:

[0054]

[0055] Define the elastic modulus of the tie rod stud as E, 1 # , 2 # , 3 # , 4 # The positive strain of the bending lateral force borne by the working strain gauge is ε σ1 , the tensile and compressive normal strain under the axial force component is ε σ2 ,but:

[0056]

[0057] Among them, under the bending action 1 # Working strain gauge, 3 # Working strain gauge compression, 2 # Working strain gauge, 4 # Working strain gauge stretches, under the action of axial force, 1 # , 2 # , 3 # , 4 # The working strain gauges are all compressed.

[0058] Definition 1 # , 2 # The strain output of the environmental compensation sheet is ε t , 1 # -4 # The outputs of the working strain gauges are ε1, ε2, ε3, and ε4 respectively. According to the linear superposition characteristics of the strain results, they are:

[0059]

[0060] Among them, ε out1 is the output of the arm full-bridge circuit connected to the first channel of the strain gauge, ε out2 The output of the arm full-bridge circuit connected to the second channel of the strain gauge.

[0061] according to Figure 8 The mechanical relationship shown in the figure is solved as follows:

[0062]

[0063] Further calculation yields:

[0064]

[0065] Combined with ε out1 and ε out2 The magnitude and direction of the reaction force when the foot-type walking mechanism hits an obstacle can be obtained in real time, thereby realizing obstacle perception of the foot-type walking mechanism.

[0066] Example 3

[0067] An electronic device includes a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the method for detecting the obstacle angle and reaction force of a foot-type walking mechanism in Example 2, and the processor is configured to execute the program stored in the memory.

[0068] Example 4

[0069] A storage medium stores a computer program, which, when executed by a processor, executes the steps of the method for detecting obstacle contact angles and reaction forces of a foot-type walking mechanism in embodiment 2.

[0070] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A system for detecting obstacle contact angle and reaction force of a foot-type walking mechanism, characterized in that: include: The first tie rod stud (13), the second tie rod stud (14), 1 # Working strain gauge, 1 # Environmental compensation sheet, 2 # Working strain gauge, 2 # Environmental compensation film, 3 # Working strain gauge, 4 # Working strain gauges, strain meters; The first tie rod stud (13) and the second tie rod stud (14) are symmetrically arranged directly above and directly below the tensioning push rod (11), and are respectively kept parallel to the tensioning push rod (11); both ends of the first tie rod stud (13) and the second tie rod stud (14) are respectively fixedly connected to the tensioning fixed seat (10) and the wing wheel (12); The upper and lower surfaces of the column of the first tie rod stud (13) are symmetrically milled with platforms, the front and rear surfaces of the column of the first tie rod stud (13) are symmetrically milled with platforms, and the upper and lower surfaces of the column of the second tie rod stud (14) are symmetrically milled with platforms; # and 2 # The working strain gauges are respectively laid on the milling platforms on the upper and lower surfaces of the column of the first tie rod stud (13). # and 4 # The working strain gauges are respectively laid on the milling platforms on the upper and lower surfaces of the column of the second tie rod stud (14). # and 2 # The environmental compensation sheets are respectively laid on the platforms milled on the front and rear surfaces of the column of the first tie rod stud (13); 1 # Working strain gauge, 1 # Environmental compensation sheet, 2 # Working strain gauge, 2 # The environmental compensation pieces are connected end to end in sequence to form a first pair of arm full-bridge circuits, the input end of the first pair of arm full-bridge circuits is connected to the input end of the first channel of the strain gauge, and the output end of the first pair of arm full-bridge circuits is connected to the output port of the first channel of the strain gauge; 3. # Working strain gauge, 4 # The working strain gauge, the first strain gauge internal resistor, and the second strain gauge internal resistor are connected end to end in sequence to form a second pair of arm full-bridge circuit, the input end of the second pair of arm full-bridge circuit is connected to the input end of the second channel of the strain gauge, and the output end of the second pair of arm full-bridge circuit is connected to the output port of the second channel of the strain gauge.

2. A detection method using the obstacle contact angle and reaction force detection system of a foot-type walking mechanism according to claim 1, characterized in that: When the crawler walking mechanism hits an obstacle, the tie rod stud bears the axial force component F a and the bending lateral force F s ,Right now: F s =F·cosθ,Fa=F·sinθ (1) Define the length of the tie rod stud as L, then the bending moment at the tie rod stud working strain gauge laying position is M, that is: Define the diameter of the tie rod stud as d, the cross-sectional area as A, and the moment of inertia of the area as I, then: Define the elastic modulus of the tie rod stud as E, 1 # , 2 # , 3 # , 4 # The positive strain of the bending lateral force borne by the working strain gauge is ε σ1 , the tensile and compressive normal strain under the axial force component is ε σ2 ,but: Definition 1 # , 2 # The strain output of the environmental compensation sheet is ε t , 1 # -4 # The outputs of the working strain gauges are ε1, ε2, ε3, and ε4 respectively. According to the linear superposition characteristics of the strain results, they are: Among them, ε out1 is the output of the arm full-bridge circuit connected to the first channel of the strain gauge, ε out2 The output of the arm full bridge circuit connected to the second channel of the strain gauge; According to the mechanical relationship, the following relationship is obtained: Thus we can calculate: Combined with ε out1 and ε out2 The magnitude and direction of the reaction force when the foot-type walking mechanism hits an obstacle are obtained in real time, thereby realizing obstacle perception of the foot-type walking mechanism.

3. An electronic device comprising a memory and a processor, characterized in that: The memory is used to store a program that supports the processor to execute the detection method described in claim 2, and the processor is configured to execute the program stored in the memory.

4. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the detection method according to claim 2 are executed.

Images