Method and system for assisting walking of biped robot by using vacuum adsorption device
By installing a vacuum adsorption device and sensor system on the soles of the bipedal robot, the adsorption force is adjusted in real time, the stability problem of the bipedal robot when walking on uneven or low-friction surfaces is solved, and the walking stability and efficiency are improved.
Patent Information
- Application Number
- CN202310730445.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-06-20
- Publication Date
- 2024-12-20
AI Technical Summary
Bipedal robots are prone to lose balance or slip when walking on uneven or low-friction surfaces, resulting in increased stability and energy consumption, which is difficult for the prior art to effectively solve this problem.
A vacuum adsorption device is used to locate the soles of the bipedal robot. Combined with a sensor system and control unit, it detects ground environment parameters in real time and adjusts the adsorption force to improve adhesion and stability.
By increasing adhesion, reducing slip risks, improving the stability and walking efficiency of bipedal robots on uneven or low-friction surfaces, adapting to a variety of environmental conditions.
Smart Images
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Abstract
Description
Technical Field
[0001] The present invention relates to the field of robotics, and in particular to the field of walking control technology of bipedal robots. With the continuous development of robotics technology, robots have been widely used in various fields, including industrial manufacturing, medical treatment, services, agriculture, etc. As a bionic robot, the walking control of bipedal robots is an important research direction. Background Art
[0002] Bipedal robots have broad application prospects in future industry, military and daily life. However, walking on uneven or low-friction surfaces is still a challenge because bipedal robots can easily lose balance or slip. Stability is an important issue in the walking of bipedal robots. Traditional bipedal robots need to maintain body balance while adjusting their steps to maintain stability during walking. This method requires the robot to consume a lot of energy and computing resources. Therefore, improving the stability and efficiency of bipedal robots' walking is a hot issue in the current field of robotics. Summary of the invention
[0003] This patent provides a method and system for using a vacuum adsorption device to assist a bipedal robot in walking. The system includes the following components: 1. Vacuum adsorption device: located on the bottom or sole of the foot of the bipedal robot, capable of generating sufficient negative pressure to adsorb to the ground. 2. Sensor system: used to detect the friction coefficient, inclination and other environmental parameters of the ground to adjust the adsorption strength of the vacuum adsorption device according to real-time conditions. 3. Control unit: through interaction with the sensor system, control the working state and adsorption strength of the vacuum adsorption device. In the method of using the system, the bipedal robot first obtains environmental information of the ground through the sensor system, including the friction coefficient and inclination. Then, the control unit adjusts the adsorption strength of the vacuum adsorption device based on this information. By making the vacuum adsorption device generate appropriate adsorption force, the bipedal robot can increase its adhesion to the ground, thereby improving walking stability and reducing the risk of slipping. Advantages
[0004] A method and system for using a vacuum adsorption device to assist a bipedal robot in walking has the following advantages: 1. Improved stability: By increasing the adhesion to the ground, the bipedal robot can walk more stably on uneven or low-friction surfaces, reducing the risk of losing balance. 2. Adapt to a variety of environments: The sensor system detects ground environmental parameters in real time and adjusts the adsorption force as needed, allowing the system to adapt to different ground conditions. 3. Improved efficiency: Reducing the risk of slipping enables bipedal robots to complete tasks more efficiently, whether on industrial production lines or in daily life. BRIEF DESCRIPTION OF THE DRAWINGS
[0005] Figure 1 This is a schematic diagram of the overall device of a method and system of this patent using a vacuum adsorption device to assist a bipedal robot in walking.
[0006] Figure 2 This is a schematic diagram of the sole of the foot of a method and system of this patent using a vacuum adsorption device to assist a bipedal robot in walking.
[0007] Among them, 101 is a vacuum adsorption device, 102 is a sensor system, and 103 is a control unit. Implementation
[0008] This embodiment provides a method and system for using a vacuum adsorption device to assist a biped robot in walking. The system includes the following components: a vacuum adsorption device, a sensor system, and a control unit.
[0009] 1. Vacuum adsorption device: a. The vacuum adsorption device is located on the bottom or sole of the foot of the biped robot. The device includes a controllable suction cup unit, each of which generates sufficient negative pressure to be adsorbed to the ground through a vacuum pump system. b. Each suction cup unit is connected to the vacuum pump system through a connecting pipe. The control unit can independently control the working state and adsorption strength of each suction cup unit.
[0010] 2. Sensor system: a. The sensor system includes friction sensors, tilt sensors and other environmental sensing devices. The friction sensor is used to detect the friction coefficient of the ground, and the tilt sensor is used to detect the inclination of the ground. b. The sensor system transmits the real-time ground environmental parameters to the control unit so as to adjust the adsorption strength of the vacuum adsorption device according to the actual conditions.
[0011] 3. Control unit: a. The control unit monitors the ground environment parameters in real time and adjusts the suction force accordingly by interacting with the sensor system. b. The control unit uses an embedded system as a control device, which can control the switch state and negative pressure of each suction cup unit to achieve precise suction force control. c. The control unit can also automatically adjust the suction force according to walking needs to adapt to different ground conditions, such as uneven surfaces or low-friction surfaces.
[0012] In the method of using the system: 1. The bipedal robot first obtains environmental information of the ground, including friction coefficient and inclination, through the sensor system. 2. The control unit adjusts the working state and adsorption strength of each suction cup unit according to this information. 3. Each suction cup unit generates appropriate negative pressure according to the command of the control unit, so that the suction cup is firmly adsorbed to the ground and the adhesion to the ground is increased. 4. By maintaining the adsorption state of the suction cup, the bipedal robot increases stability, reduces the risk of slipping, and is able to walk more stably on uneven or low-friction surfaces.
Claims
1. A method for using a vacuum adsorption device to assist a bipedal robot in walking. It is characterized in that The method comprises the following steps: a. Detect ground environmental parameters, including friction coefficient and slope; b. Based on the ground environmental parameters, determine the adsorption strength of the vacuum adsorption device; c. Control the vacuum adsorption device to generate appropriate adsorption force; d. Keep the bottom of the bipedal robot's feet in contact with the ground to increase adhesion and improve walking stability.
2. The method according to claim 1, wherein the vacuum adsorption device is implemented by a suction cup.
3. The method according to claim 1, wherein the vacuum adsorption device is implemented by a vacuum pump.
4. The method according to claim 1, wherein the vacuum adsorption device adjusts the adsorption strength to adapt to different ground conditions. 5 . The method according to claim 1 , wherein the ground environment parameters include friction coefficient, inclination and other parameters related to walking stability.
6. A system for assisting a bipedal robot to walk using a vacuum adsorption device. include: a. at least one vacuum adsorption device, located at the bottom of the foot of the bipedal robot, for generating an adsorption force with the ground; b. A sensor system for detecting ground environmental parameters and transmitting them to the control unit; c. A control unit, which interacts with the sensor system and is used to control the working state and adsorption strength of the vacuum adsorption device according to ground environmental parameters.
7. The system of claim 6, wherein the sensor system includes friction sensors, tilt sensors and other environmental sensing devices. The system according to claim 6 , wherein the control unit is implemented by an embedded system.