Horizontal pipeline curve turning method for quadruped robot

Abstract

The invention relates to the technical field of robot control, in particular to a horizontal pipeline curve turning method for a quadruped robot. According to the method, the lengths of mechanical feet of the quadruped robot and the variable swing angles of the mechanical feet serve as research objects, the speeds of the quadruped motors, turning in a pipeline, of the quadruped robot are calculated respectively, and meanwhile the motor speed finally controlled to the quadruped robot in a curve is obtained in a ratio component calculation mode. Therefore, the quadruped robot can stably turn, and the running stability of the quadruped robot is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of robot control, and in particular to a horizontal pipeline curve turning method for a quadruped robot. Background Art

[0002] Existing ground operation robots are generally multi-legged robots, and each leg is provided with a swingable roller driven by a motor. This design allows the robot to travel on different ground environments while maintaining the stability of the body.

[0003] However, when the robot passes through a pipe, the pipe is equivalent to restricting the robot's direction of travel, and it will encounter large-angle curves in the horizontal stage. At this time, the rollers on different feet of the robot need certain methods to determine the turning speeds of different axes in order to maintain stable driving.

[0004] Existing robot control methods often cannot solve the problem of multi-legged robots turning corners well. Summary of the invention

[0005] The present invention aims to solve the problem that the prior art cannot determine the motor speed of a multi-legged robot when it turns in a pipeline.

[0006] In order to solve the above technical problems, the present invention provides a horizontal pipeline curve turning method for a quadruped robot, comprising the following steps:

[0007] Acquire mechanical parameters of the quadruped robot, wherein the mechanical parameters include a body width, a mechanical foot length, and a mechanical foot swing angle of the quadruped robot;

[0008] Acquiring pipeline parameters of the pipeline through which the quadruped robot is to pass;

[0009] Taking the moving direction of the quadruped robot as the positive direction of the x-axis, obtaining a first change value of the projection of the length of the mechanical foot of the quadruped robot caused by the swing angle of the mechanical foot on the y-axis of the spatial coordinate system;

[0010] Obtaining a second change value of the projection of the body width of the quadruped robot caused by the swing angle of the mechanical foot on the x-axis of the spatial coordinate system;

[0011] The pipeline is evenly divided into N sections according to the length, and in each section, the speeds of the four motors of the quadruped robot are calculated using the ratio component method by using the mechanical parameters, the pipeline parameters, the first change value and the second change value;

[0012] The speeds of the four motors of the quadruped robot corresponding to all the road sections are averaged to obtain the turning speeds of the four motors respectively, and the quadruped robot is controlled to pass through the pipeline according to the turning speeds.

[0013] Furthermore, the body width of the quadruped robot is defined as h, the length of the mechanical foot is defined as L, the swing angle formed by the intersection of the projection of the straight line where the mechanical foot is located on the xz plane of the spatial coordinate system and the y axis is defined as θ1, the swing angle formed by the intersection of the projection of the straight line where the mechanical foot is located on the xy plane of the spatial coordinate system and the z axis is defined as θ2, the inner radius of the curve of the pipeline is defined as r, the outer radius of the curve of the pipeline is defined as R, and the first change value a satisfies the following relationship:

[0014] a=L×sinθ1;

[0015] The second change value H satisfies the following relationship:

[0016] H=2a×sinθ2+h.

[0017] Furthermore, the speed of the first front motor of the quadruped robot close to the inner side of the curve of the pipeline is defined as V1, the speed of the first rear motor of the quadruped robot close to the inner side of the curve of the pipeline is defined as V2, the speed of the second front motor of the quadruped robot close to the outer side of the curve of the pipeline is defined as V3, and the speed of the second rear motor of the quadruped robot close to the outer side of the curve of the pipeline is defined as V4, which satisfy the following relationship:

[0018]

[0019] in:

[0020]

[0021] The beneficial effect achieved by the present invention is that a horizontal pipeline curve turning method for a quadruped robot is proposed. The method takes the length of the mechanical feet of the quadruped robot and the variable swing angle of the mechanical feet as the research objects, calculates the speeds of the quadruped motors of the quadruped robot turning in the pipeline separately, and uses the ratio component calculation method to obtain the motor speed that is ultimately controlled to the quadruped robot in the curve, thereby ensuring that the quadruped robot can turn stably and ensuring the driving stability of the quadruped robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the steps of a horizontal pipe curve turning method for a quadruped robot provided by an embodiment of the present invention;

[0023] Figure 2 is a schematic diagram of a scene when a quadruped robot provided by an embodiment of the present invention is traveling in a pipe bend;

[0024] Figure 3 is a schematic diagram of first parameters of a quadruped robot provided by an embodiment of the present invention when traveling in a pipe bend;

[0025] Figure 4 is a schematic diagram of the second parameters of the quadruped robot provided by an embodiment of the present invention when traveling in a pipe bend;

[0026] Figure 5 3 is a schematic diagram of the third parameter of the quadruped robot provided by an embodiment of the present invention when traveling in a pipe bend. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0028] Please refer to Figure 1 , Figure 1 1 is a schematic flow chart of the steps of a horizontal pipeline curve turning method for a quadruped robot provided by an embodiment of the present invention, wherein the horizontal pipeline curve turning method for a quadruped robot comprises the following steps:

[0029] S1. Acquire mechanical parameters of the quadruped robot, wherein the mechanical parameters include a body width, a mechanical foot length, and a mechanical foot swing angle of the quadruped robot;

[0030] S2. Acquire pipeline parameters of the pipeline through which the quadruped robot is to pass;

[0031] S3, taking the moving direction of the quadruped robot as the positive direction of the x-axis, obtaining a first change value of the projection of the length of the mechanical foot of the quadruped robot caused by the swing angle of the mechanical foot on the y-axis of the spatial coordinate system;

[0032] S4, obtaining a second change value of the projection of the body width of the quadruped robot caused by the swing angle of the mechanical foot on the x-axis of the spatial coordinate system;

[0033] S5, dividing the pipeline into N sections according to their lengths, and in each section, using a ratio component method, using mechanical parameters, the pipeline parameters, the first change value, and the second change value to calculate the speeds of the four motors of the quadruped robot;

[0034] S6. averaging the speeds of the four motors of the quadruped robot corresponding to all the road sections to obtain the turning speeds of the four motors, and controlling the quadruped robot to pass through the pipeline at the turning speeds.

[0035] For details, please refer to Figures 2 to 5 , Figure 2 The figure shows a scene in which a quadruped robot according to an embodiment of the present invention is traveling in a pipe bend. Figures 3 to 5 The parameters of the quadruped robot when traveling in a pipe bend in an embodiment of the present invention are shown. In the embodiment of the present invention, the body width of the quadruped robot is defined as h, the length of the mechanical foot is defined as L, the swing angle formed by the intersection of the projection of the straight line where the mechanical foot is located on the xz plane of the spatial coordinate system and the y axis is defined as θ1 (angle 1), the swing angle formed by the intersection of the projection of the straight line where the mechanical foot is located on the xy plane of the spatial coordinate system and the z axis is defined as θ2 (angle 2), the inner radius of the pipe bend is defined as r, the outer radius of the pipe bend is defined as R, and the first change value a satisfies the following relationship:

[0036] a=L×sinθ1;

[0037] The second change value H satisfies the following relationship:

[0038] H=2a×sinθ2+h.

[0039] Furthermore, the speed of the first front motor of the quadruped robot close to the inner side of the curve of the pipeline is defined as V1, the speed of the first rear motor of the quadruped robot close to the inner side of the curve of the pipeline is defined as V2, the speed of the second front motor of the quadruped robot close to the outer side of the curve of the pipeline is defined as V3, and the speed of the second rear motor of the quadruped robot close to the outer side of the curve of the pipeline is defined as V4, which satisfy the following relationship:

[0040]

[0041]

[0042] in:

[0043]

[0044] In step S5 of the embodiment of the present invention, the ratio component method is used to calculate the speeds of the four motors of the quadruped robot in each section. During the implementation process, since the curvature of the sections in a complete curve is not necessarily exactly the same, the embodiment of the present invention uses the ratio component method to artificially divide a curve into multiple sections. In each section, the motor speed in the current section is calculated according to the above calculation method, and finally the motor speed in each section is averaged to obtain a stable travel speed in the entire curve and maintain the driving stability of the quadruped robot.

[0045] The beneficial effect achieved by the present invention is that a horizontal pipeline curve turning method for a quadruped robot is proposed. The method takes the length of the mechanical feet of the quadruped robot and the variable swing angle of the mechanical feet as the research objects, calculates the speeds of the quadruped motors of the quadruped robot turning in the pipeline separately, and uses the ratio component calculation method to obtain the motor speed that is ultimately controlled to the quadruped robot in the curve, thereby ensuring that the quadruped robot can turn stably and ensuring the driving stability of the quadruped robot.

[0046] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM).

[0047] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0048] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0049] The embodiments of the present invention are described above in conjunction with the accompanying drawings. What is disclosed is only the preferred embodiment of the present invention. However, the present invention is not limited to the above-mentioned specific implementation manner. The above-mentioned specific implementation manner is only illustrative rather than restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms and equivalent changes without departing from the scope of protection of the purpose of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A horizontal pipeline curve turning method for a quadruped robot, characterized in that: The following steps are involved: Acquire mechanical parameters of the quadruped robot, wherein the mechanical parameters include a body width, a mechanical foot length, and a mechanical foot swing angle of the quadruped robot; Acquiring pipeline parameters of the pipeline through which the quadruped robot is to pass; Taking the moving direction of the quadruped robot as the positive direction of the x-axis, obtaining a first change value of the projection of the length of the mechanical foot of the quadruped robot caused by the swing angle of the mechanical foot on the y-axis of the spatial coordinate system; Obtaining a second change value of the projection of the body width of the quadruped robot caused by the swing angle of the mechanical foot on the x-axis of the spatial coordinate system; The pipeline is evenly divided into N sections according to the length, and in each section, the speeds of the four motors of the quadruped robot are calculated using the ratio component method by using the mechanical parameters, the pipeline parameters, the first change value and the second change value; The speeds of the four motors of the quadruped robot corresponding to all the road sections are averaged to obtain the turning speeds of the four motors respectively, and the quadruped robot is controlled to pass through the pipeline according to the turning speeds.

2. The horizontal pipeline curve turning method for a quadruped robot according to claim 1, characterized in that: The body width of the quadruped robot is defined as h, the length of the mechanical foot is defined as L, the swing angle formed by the intersection of the projection of the straight line where the mechanical foot is located on the xz plane of the spatial coordinate system and the y axis is defined as θ1, the swing angle formed by the intersection of the projection of the straight line where the mechanical foot is located on the xy plane of the spatial coordinate system and the z axis is defined as θ2, the inner radius of the curve of the pipeline is defined as r, the outer radius of the curve of the pipeline is defined as R, and the first change value a satisfies the following relationship: a=L×sinθ1; The second change value H satisfies the following relationship: H=2a×sinθ2+h.

3. The horizontal pipeline curve turning method for a quadruped robot according to claim 2, characterized in that: The speed of the first front motor of the quadruped robot close to the inner side of the curve of the pipeline is defined as V1, the speed of the first rear motor of the quadruped robot close to the inner side of the curve of the pipeline is defined as V2, the speed of the second front motor of the quadruped robot close to the outer side of the curve of the pipeline is defined as V3, and the speed of the second rear motor of the quadruped robot close to the outer side of the curve of the pipeline is defined as V4, which satisfy the following relationship: in:

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