Control method of attitude self-adaptive chassis

Abstract

The invention discloses a control method of a posture self-adaptive chassis, which relates to the technical field of chassis control, and is characterized in that a control system of the posture self-adaptive chassis comprises an embedded microprocessor, a six-axis posture sensor, a distance measuring sensor and a posture control execution mechanism; initial conditions and parameters are set, data are collected in real time through a six-axis attitude sensor and a distance measuring sensor, preliminary processing is conducted through an embedded microprocessor, the pitch angle, the roll angle and the height value of a chassis are accurately adjusted, the attitude close to the expectation is obtained, adjustment results are integrated, the rotation amount of four supporting leg mechanisms is determined, and the attitude of the chassis is perfected. By adopting the six-axis attitude sensor and the distance measuring sensor, chassis state information is enriched, and reliable data support is provided for accurate control; the pitch angle, the roll angle and the height value are adjusted step by step, the posture of the chassis is accurately controlled, and the requirements of different application scenes are met.

Description

Technical Field

[0001] The present invention relates to the technical field of chassis control, and more specifically, to a control method for a posture adaptive chassis. Background Art

[0002] In many application scenarios, such as robots and special vehicles, the stability and adaptability of the chassis are crucial. Traditional chassis control methods often have difficulty achieving good posture control in complex terrain and dynamic environments, resulting in unstable equipment operation, low efficiency, and even possible danger. Therefore, a control method that can sense chassis posture changes in real time and make adaptive adjustments is needed. Summary of the invention

[0003] In view of the deficiencies in the prior art, an object of the present invention is to provide a control method for a posture adaptive chassis.

[0004] A control method for a posture adaptive chassis, comprising an embedded microprocessor, a six-axis posture sensor, a distance measuring sensor and a posture control actuator;

[0005] The embedded microprocessor generates the control amount of each actuator through a proportional-integral-differential controller according to the value sent back by the sensor;

[0006] The six-axis attitude sensor includes a three-axis gyroscope and a three-axis accelerometer to monitor the angular velocity and acceleration changes of the chassis in real time;

[0007] The distance measuring sensor monitors the change of the distance of the chassis from the ground in real time;

[0008] The posture control actuator includes a posture adjustment motor, a leg mechanism, a walking motor and wheels, and adjusts the chassis posture in real time according to the control amount.

[0009] Also includes:

[0010] Set initial conditions and parameters;

[0011] The six-axis attitude sensor and ranging sensor are used to collect data in real time, and the embedded microprocessor is used to perform preliminary processing on the collected data;

[0012] Based on the precise adjustment of the pitch angle of the chassis, the new rotation amount of the outrigger mechanism is solved to obtain a pitch angle attitude close to the desired one;

[0013] Based on the precise adjustment of the chassis' roll angle, the new leg mechanism rotation amount is solved to obtain a roll angle attitude close to the desired one;

[0014] Based on the precise adjustment of the height value of the chassis, the new rotation amount of the outrigger mechanism is solved to obtain a height value attitude close to the desired one;

[0015] Integrate the adjustment results, determine the rotation amount of the four-leg mechanism, and improve the chassis posture.

[0016] Set initial conditions and parameters, including:

[0017] Set the positive and negative regulations of the rotation direction of the four-leg mechanism;

[0018] Set the rotation amount of the posture adjustment motor to the four leg mechanisms as The distance from the ground at the connection point between the attitude adjustment motor and the four leg mechanisms is h1, h2, h3, h4, and the desired attitude of the chassis is the pitch angle θ e 、Roll angle Φ e , height value H e .

[0019] The six-axis attitude sensor and ranging sensor are used to collect data in real time, and the embedded microprocessor is used to perform preliminary processing on the collected data, including:

[0020] The angular velocity and acceleration values ​​sent back by the six-axis attitude sensor in real time are fused and calculated using an embedded microprocessor to obtain the Euler angles, namely the pitch angle θ, the roll angle Φ and the heading angle ψ.

[0021] The distance between the bottom of the vehicle and the ground measured by the ranging sensor in real time is filtered by the embedded microprocessor and multiplied by the cosine value of the pitch angle θ and the roll angle Φ to obtain the height value H of the center point of the chassis.

[0022] Based on the precise adjustment of the pitch angle of the chassis, the new leg mechanism rotation is solved to obtain a pitch angle attitude close to the desired one, including:

[0023] When the values ​​of h1, h2, and h3 are determined, the chassis posture can be determined, so the influence of the fourth leg is not considered for the time being;

[0024] Calculate the difference between the actual pitch angle and the expected pitch angle, error: e p =θ-θ e ;

[0025] Calculate the rotation increment of the second leg by using a proportional-integral-derivative controller;

[0026] Proportional output P p =Kp p *e p , where Kp p is the proportional coefficient of pitch angle adjustment;

[0027] Integral output I p =I p,last +Ki p *e p , where I p,lastis the integral term of the previous control cycle, Ki p is the integration coefficient;

[0028] Differential output D p =Kd p *(e p -e p,last ), where e p,last is the pitch angle error at the previous moment, Kd p is the differential coefficient;

[0029] Total control output U p =P p +I p +D p , the total control output U p That is the rotation increment of the second leg;

[0030] Determine the new rotation amounts of the second and third legs;

[0031] In order to focus on the adjustment of the pitch angle and increase the attitude adjustment range, the change of h1 is made to be consistent with the size and direction of h2, and the change of h3 is consistent with the size and direction of h2;

[0032] according to Get the new rotation of the second and third legs and

[0033] Based on the precise adjustment of the chassis' roll angle, the new leg mechanism rotation is solved to obtain a roll angle attitude close to the desired one, including:

[0034] Calculate the difference between the actual roll angle and the expected roll angle, error: e r =Φ-Φ e ;

[0035] Calculate the rotation increment of the third leg by using a proportional-integral-derivative controller;

[0036] Proportional output P r =Kp r *e r , where Kp r is the proportional coefficient of pitch angle adjustment;

[0037] Integral output I r =I r,last +Ki r *e r , where I r,last is the integral term of the previous control cycle, Ki r is the integration coefficient;

[0038] Differential output Dr =Kd r *(e r -e r,last ), where e r,last is the roll angle error at the previous moment, Kd r is the differential coefficient;

[0039] Total control output U r =P r +I r +D r , the total control output U r That is the rotation increment of the third leg;

[0040] Determine the new rotation amounts of the second and third legs;

[0041] In order to focus on the adjustment of the roll angle and increase the amplitude of attitude adjustment, the change of h1 is made to be consistent with the size and direction of h3, and the change of h2 is consistent with the size and direction of h3;

[0042] according to Get the new rotation of the second and third legs and

[0043] Based on the precise adjustment of the chassis height value, the new leg mechanism rotation is solved to obtain a height value attitude close to the expected value, including:

[0044] Calculate the difference between the actual height and the expected height, error e h =HH e ;

[0045] The incremental distance from the ground at the connection point between the attitude adjustment motor and the outrigger mechanism is calculated by a proportional-integral-differential controller;

[0046] Proportional output P h =Kp h *e h , where Kp h is the scaling factor for height adjustment;

[0047] Integral output I h =I h,last +Ki h *e h , where I h,last is the integral term of the previous control cycle, Ki h is the integration coefficient;

[0048] Differential output D h =Kd h *(e h -e h,last ), where eh,last is the height error at the previous moment, Kd h is the differential coefficient;

[0049] Total control output U h =P h +I h +D h , the total control output U h That is, the incremental distance from the ground at the connection point between the attitude adjustment motor and the outrigger mechanism;

[0050] determining the new rotation amounts of the first leg, the second leg, and the third leg;

[0051] In order to focus on the adjustment of the height value; according to the incremental distance from the ground at the connection point between the attitude adjustment motor and the leg mechanism and the old rotation amount of the first leg, the second leg and the third leg, the incremental rotation amount of the first leg, the second leg and the third leg are calculated, so as to obtain the new rotation amount of the first leg, the second leg and the third leg and

[0052] Integrate the adjustment results, determine the rotation amount of the four leg mechanisms, and improve the chassis posture, including:

[0053] The calculated and As the final output of this cycle to the outrigger mechanism, and In the case of certainty, the attitude of the chassis can be determined;

[0054] Determine the rotation of the fourth leg The chassis can achieve the desired posture under the coordinated action of the four-leg mechanisms.

[0055] Compared with the prior art, the present invention has the following beneficial effects:

[0056] 1. The attitude adaptive chassis control method of the present invention can perceive the attitude changes and terrain conditions of the chassis in real time, and realize rapid adjustment of the chassis attitude through precise control algorithms, thereby improving the stability and adaptability of the chassis in complex environments;

[0057] 2. In the present invention, by using a six-axis attitude sensor and a distance sensor, it is possible to provide rich chassis status information and provide reliable data support for precise control;

[0058] 3. In the present invention, by adjusting the pitch angle, roll angle and height value in steps, the chassis posture can be controlled more accurately to meet the needs of different application scenarios;

[0059] 4. In the present invention, the proportional-integral-differential controller adopted has the advantages of fast response speed and high control accuracy, and can effectively realize accurate control of the attitude control actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A flow chart of a control method for a posture adaptive chassis is proposed for the present invention;

[0061] Figure 2 A side view of a control device for a posture adaptive chassis proposed by the present invention;

[0062] Figure 3 An axonometric diagram of a control device for a posture adaptive chassis is proposed for the present invention;

[0063] Figure 4 The present invention provides a top view of a control device for a posture adaptive chassis.

[0064] 1. Posture adjustment motor; 2. Outrigger mechanism; 3. Travel motor; 4. Wheel; 5. Distance measurement sensor; 6. Battery compartment; 7. Six-axis posture sensor; 8. Embedded microprocessor; 9. First outrigger; 10. Second outrigger; 11. Third outrigger; 12. Fourth outrigger. DETAILED DESCRIPTION

[0065] Reference Figures 1 to 4 .

[0066] The embodiment further illustrates a control method of a posture adaptive chassis proposed by the present invention.

[0067] A control method for a posture adaptive chassis, comprising an embedded microprocessor 8, a six-axis posture sensor 7, a distance sensor 5 and a posture control actuator;

[0068] The embedded microprocessor 8 generates the control amount of each actuator through a proportional-integral-differential controller according to the value sent back by the sensor;

[0069] The six-axis attitude sensor 7 includes a three-axis gyroscope and a three-axis accelerometer to monitor the angular velocity and acceleration changes of the chassis in real time;

[0070] The distance measuring sensor 5 monitors the change of the distance of the chassis from the ground in real time;

[0071] The posture control actuator comprises a posture adjustment motor 1, a leg mechanism 2, a walking motor 3 and wheels 4, and adjusts the chassis posture in real time according to the control amount.

[0072] Also includes:

[0073] Set initial conditions and parameters;

[0074] The six-axis attitude sensor 7 and the distance measuring sensor 5 are used to collect data in real time, and the collected data are preliminarily processed by the embedded microprocessor 8;

[0075] Based on the precise adjustment of the pitch angle of the chassis, the new rotation amount of the leg mechanism 2 is solved to obtain a pitch angle attitude close to the desired one;

[0076] Based on the precise adjustment of the roll angle of the chassis, the new rotation amount of the leg mechanism 2 is solved to obtain a roll angle attitude close to the desired one;

[0077] Based on the precise adjustment of the height value of the chassis, the new rotation amount of the leg mechanism 2 is solved to obtain a posture close to the desired height value;

[0078] The adjustment results are integrated to determine the rotation amount of the four leg mechanisms 2 and improve the chassis posture.

[0079] Set initial conditions and parameters, including:

[0080] Set the positive and negative rules of the rotation direction of the four-leg mechanism 2; assuming that from the front direction of the four-leg mechanism 2, the first leg 9 rotates counterclockwise as positive, the second leg 10 rotates clockwise as positive, the third leg 11 rotates counterclockwise as positive, and the fourth leg 12 rotates clockwise as positive;

[0081] Set the rotation amount of the posture adjustment motor 1 to the four-leg mechanism 2 as The distance from the ground at the connection point between the attitude adjustment motor 1 and the four leg mechanisms 2 is h1, h2, h3, h4, and the desired attitude of the chassis is the pitch angle θ e 、Roll angle Φ e , height value H e .

[0082] The six-axis attitude sensor 7 and the distance sensor 5 are used to collect data in real time, and the embedded microprocessor 8 is used to perform preliminary processing on the collected data, including:

[0083] The angular velocity value and acceleration value transmitted in real time by the six-axis attitude sensor 7 are fused and calculated by the embedded microprocessor 8 to obtain the Euler angle, namely the pitch angle θ, the roll angle Φ and the heading angle ψ;

[0084] The fusion calculation method includes but is not limited to complementary filtering method and Kalman filtering method;

[0085] The complementary filtering method is used as an example for calculation, and the calculation steps include low-pass filtering to process the three-axis accelerometer data, high-pass filtering to process the three-axis gyroscope data, and fusion calculation to obtain the Euler value;

[0086] The low-pass filtering processes the accelerometer data, comprising:

[0087] The three-axis accelerometer can accurately measure the direction of gravity in static or low-frequency conditions and provide relatively reliable attitude information; however, it responds slowly to high-frequency motion;

[0088] First, the three-axis acceleration values ​​measured by the three-axis accelerometer are normalized to obtain a unit vector; assuming that the three-axis acceleration values ​​measured by the accelerometer are a x 、a y 、a z , then the normalized vector is:

[0089] Then the normalized vector is processed by a low-pass filter to obtain low-frequency posture information; the low-pass filter can use a simple first-order low-pass filter, the formula is LPF out (n) = α × LPF out (n-1)+(1-α)×LPF in (n), where LPF out (n) is the current output value, LPF out (n-1) is the output value at the previous moment, LPF in (n) is the current input value, α is the filter coefficient, which usually takes a value between 0 and 1 and determines the cutoff frequency of the filter;

[0090] The high-pass filter processes the three-axis gyroscope data, including:

[0091] The three-axis gyroscope can respond quickly to changes in attitude, but due to the existence of integral errors, long-term operation will cause data drift;

[0092] The three-axis angular velocity value w measured by the three-axis gyroscope x 、w y 、w z Integrate to get the change in attitude; for example, for the pitch angle θ, the change is Δθ = w y ×Δt, where Δt is the sampling time interval;

[0093] The integrated angular velocity value is processed by a high-pass filter to obtain high-frequency attitude information; the high-pass filter can also use a first-order high-pass filter, and the formula is HPF out (n) = β × (HPF out (n-1)+HPF in (n)-HPF in (n-1)), where HPF out (n) is the current output value, HPF out (n-1) is the output value at the previous moment, HPF in(n) is the input value at the current moment, β is the filter coefficient, which also takes a value between 0 and 1 and determines the cutoff frequency of the filter;

[0094] The fusion calculation obtains the Euler angle, including:

[0095] Fusing the low-pass filtered three-axis accelerometer data and the high-pass filtered three-axis gyroscope data;

[0096] Taking the pitch angle as an example, the pitch angle after fusion is θ=k1×θ acc +k2×θgyro, where θ acc is the pitch angle calculated from the triaxial accelerometer data, θ gyro It is the pitch angle calculated by the three-axis gyroscope data. k1 and k2 are fusion coefficients. Their sum is 1 and can be adjusted according to actual conditions.

[0097] According to the calculation method and steps of the pitch angle θ, the roll angle Φ and the heading angle ψ are obtained;

[0098] The distance between the bottom of the vehicle and the ground measured by the distance measuring sensor 5 in real time is filtered by the embedded microprocessor 8 and multiplied by the cosine value of the pitch angle θ and the roll angle Φ to obtain the height value H of the center point of the chassis;

[0099] The filtering processing methods include but are not limited to mean filtering, median filtering, and Kalman filtering;

[0100] Take mean filtering as an example for filtering;

[0101] Use the distance measuring sensor to measure the vertical distance between the bottom of the vehicle and the ground, recorded as the original measurement value d;

[0102] Set a filter window size to N, and combine N consecutive measurements into a data window {d1, d2, d3, ... d N};

[0103] Calculate the distance value D after mean filtering filtered ,

[0104] Calculate the height H of the center point of the chassis by combining the pitch angle θ and the roll angle Φ;

[0105] According to the known pitch angle θ and roll angle Φ, the pitch angle cosine value cos(θ) and the roll angle cosine value cos(Φ) are obtained;

[0106] Calculate the height H of the center point of the chassis, H = D filtered ×cos(θ)×cos(Φ).

[0107] Based on the precise adjustment of the pitch angle of the chassis, the new rotation amount of the leg mechanism 2 is solved to obtain a pitch angle attitude close to the desired one, including:

[0108] When the values ​​of h1, h2, and h3 are determined, the chassis posture can be determined, so the influence of the fourth leg 12 is not considered for the time being;

[0109] Calculate the difference between the actual pitch angle and the expected pitch angle, error: e p =θ-θ e ;

[0110] Calculate the rotation increment of the second leg 10 by using a proportional-integral-derivative controller;

[0111] Proportional output P p =Kp p *e p , where Kp p is the proportional coefficient of pitch angle adjustment;

[0112] Integral output I p =I p,last +Ki p *e p , where I p,last is the integral term of the previous control cycle, Ki p is the integration coefficient;

[0113] Differential output D p =Kd p *(e p -e p,last ), where ep,last is the pitch angle error at the last moment, and Kdp is the differential coefficient;

[0114] Total control output U p =P p +I p +D p , the total control output U p That is, the rotation increment of the second leg 10;

[0115] Determine the new rotation amount of the second leg 10 and the third leg 11;

[0116] In order to focus on the adjustment of the pitch angle and increase the attitude adjustment range, the change of h1 is made to be consistent with the size and direction of h2, and the change of h3 is consistent with the size and direction of h2;

[0117] according to Get the new rotation amount of the second leg 10 and the third leg 11 and

[0118] Based on the precise adjustment of the roll angle of the chassis, the new rotation of the leg mechanism 2 is solved to obtain a roll angle attitude close to the desired one, including:

[0119] Calculate the difference between the actual roll angle and the expected roll angle, error: e r =Φ-Φ e ;

[0120] Calculate the rotation increment of the third leg 11 by using a proportional-integral-derivative controller;

[0121] Proportional output P r =Kp r *e r , where Kp r is the proportional coefficient of pitch angle adjustment;

[0122] Integral output I r =I r,last +Ki r *e r , where I r,last is the integral term of the previous control cycle, Ki r is the integration coefficient;

[0123] Differential output D r =Kd r *(e r -e r,last ), where e r,last is the roll angle error at the previous moment, Kd r is the differential coefficient;

[0124] Total control output U r =P r +I r +D r , the total control output U r That is, the rotation increment of the third leg 11;

[0125] Determine the new rotation amount of the second leg 10 and the third leg 11;

[0126] In order to focus on the adjustment of the roll angle and increase the amplitude of attitude adjustment, the change of h1 is made to be consistent with the size and direction of h3, and the change of h2 is consistent with the size and direction of h3;

[0127] according to Get the new rotation amount of the second leg 10 and the third leg 11 and

[0128] Based on the precise adjustment of the height value of the chassis, the new rotation amount of the leg mechanism 2 is solved to obtain a height value posture close to the expected value, including:

[0129] Calculate the difference between the actual height and the expected height, error e h =HH e ;

[0130] The incremental distance from the ground at the connection point between the posture adjustment motor 1 and the outrigger mechanism 2 is calculated by a proportional-integral-differential controller;

[0131] Proportional output P h =Kp h *e h , where Kp h is the scaling factor for height adjustment;

[0132] Integral output I h =I h,last +Ki h *e h , where I h,last is the integral term of the previous control cycle, Ki h is the integration coefficient;

[0133] Differential output D h =Kd h *(e h -e h,last ), where e h,last is the height error at the previous moment, Kd h is the differential coefficient;

[0134] Total control output U h =P h +I h +D h , the total control output U h That is, the incremental distance from the ground at the connection point between the posture adjustment motor 1 and the outrigger mechanism 2;

[0135] Determine the new rotation amounts of the first leg 9, the second leg 10 and the third leg 11;

[0136] In order to focus on the adjustment of the height value; according to the incremental distance from the ground at the connection point between the attitude adjustment motor 1 and the leg mechanism 2 and the old rotation amount of the first leg 9, the second leg 10 and the third leg 11, the incremental rotation amount of the first leg 9, the second leg 10 and the third leg 11 are calculated, so as to obtain the new rotation amount of the first leg 9, the second leg 10 and the third leg 11 and

[0137] The step of calculating the rotation increment of the leg mechanism 2 comprises:

[0138] Establish a relationship model between the incremental distance from the ground at the connection point between the posture adjustment motor 1 and the outrigger mechanism 2 and the incremental rotation amount of the outrigger mechanism 2;

[0139] Assume that the initial length of the outrigger mechanism 2 is L, the initial angle between the outrigger mechanism 2 and the vertical direction is λ, and the rotation increment of the outrigger mechanism 2 is It is known that the incremental distance from the ground at the connection point between the attitude adjustment motor 1 and the leg mechanism 2 is U d , we get the approximate relationship:

[0140] Solve for the rotation increment of outrigger mechanism 2;

[0141] Assuming L and λ are known, expand the equation using the sum and difference formula of trigonometric functions to solve

[0142] The expansion yields

[0143] if Very small, approximately but Solve to get the rotation increment of leg mechanism 2

[0144] Integrate the adjustment results, determine the rotation amount of the four leg mechanisms 2, and improve the chassis posture, including:

[0145] The calculated and As the final rotation amount output to the leg mechanism 2 in this cycle, and In the case of certainty, the attitude of the chassis can be determined;

[0146] Determine the rotation amount of the fourth leg 12 The chassis can achieve a desired posture under the coordinated action of the four leg mechanisms 2.

[0147] The attitude adaptive chassis control method and device described in the present invention are suitable for hilly and mountainous areas.

[0148] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A control method for a posture adaptive chassis, characterized in that: It includes an embedded microprocessor (8), a six-axis attitude sensor (7), a distance sensor (5) and an attitude control actuator; The embedded microprocessor (8) generates control quantities of each actuator through a proportional-integral-differential controller according to the values ​​sent back by the sensor; The six-axis attitude sensor (7) comprises a three-axis gyroscope and a three-axis accelerometer, and monitors the angular velocity change and acceleration change of the chassis in real time; The distance measuring sensor (5) monitors the change of the distance of the chassis from the ground in real time; The posture control actuator comprises a posture adjustment motor (1), a leg support mechanism (2), a walking motor (3) and wheels (4), and adjusts the chassis posture in real time according to the control amount.

2. A control method for an attitude adaptive chassis, characterized in that: Also includes: Set initial conditions and parameters; Using a six-axis attitude sensor (7) and a distance measuring sensor (5) to collect data in real time, and using an embedded microprocessor (8) to perform preliminary processing on the collected data; Based on the precise adjustment of the pitch angle of the chassis, the rotation amount of the new leg mechanism (2) is solved to obtain a pitch angle attitude close to the desired one; Based on the precise adjustment of the roll angle of the chassis, the rotation amount of the new leg mechanism (2) is solved to obtain a roll angle attitude close to the desired one; Based on the precise adjustment of the height value of the chassis, the rotation amount of the new leg mechanism (2) is solved to obtain a posture close to the desired height value; The adjustment results are integrated to determine the rotation amount of the four leg mechanisms (2) and improve the chassis posture.

3. The control method of a posture adaptive chassis according to claim 2, characterized in that: Set initial conditions and parameters, including: Setting the positive and negative regulations of the rotation direction of the four-leg mechanism (2); The rotation amount of the posture adjustment motor (1) to the four-leg mechanism (2) is set to The distances from the ground at the connection points of the attitude adjustment motor (1) and the four leg mechanisms (2) are h1, h2, h3, h4, and the desired attitude of the chassis is the pitch angle θ e 、Roll angle Φ e , height value H e .

4. The control method of a posture adaptive chassis according to claim 3, characterized in that: The six-axis attitude sensor (7) and the distance measuring sensor (5) are used to collect data in real time, and the embedded microprocessor (8) is used to perform preliminary processing on the collected data, including: The angular velocity value and the acceleration value transmitted back in real time by the six-axis attitude sensor (7) are fused and calculated by using an embedded microprocessor (8) to obtain the Euler angles, namely the pitch angle θ, the roll angle Φ and the heading angle ψ; The distance between the bottom of the vehicle and the ground measured in real time by the distance measuring sensor (5) is filtered by the embedded microprocessor (8) and multiplied by the cosine value of the pitch angle θ and the roll angle Φ to obtain the height value H of the center point of the chassis.

5. The control method of a posture adaptive chassis according to claim 4, characterized in that: Based on the precise adjustment of the pitch angle of the chassis, the rotation amount of the new leg mechanism (2) is solved to obtain a pitch angle attitude close to the desired one, including: When the values ​​of h1, h2, and h3 are determined, the chassis posture can be determined, so the influence of the fourth leg (12) is not considered for the time being; Calculate the difference between the actual pitch angle and the expected pitch angle, error: e p =θ-θ e ; Calculating the rotation increment of the second leg (10) by a proportional-integral-derivative controller; Proportional output P p =Kp p *e p , where Kp p is the proportional coefficient of pitch angle adjustment; Integral output I p =I p,last +Ki p *e p , where I p,last is the integral term of the previous control cycle, Ki p is the integration coefficient; Differential output D p =Kd p *(e p -e p,last ), where ep,last is the pitch angle error at the last moment, and Kdp is the differential coefficient; Total control output U p =P p +I p +D p , the total control output U p That is, the rotation increment of the second leg (10); Determining the new rotation amount of the second leg (10) and the third leg (11); In order to focus on the adjustment of the pitch angle and increase the attitude adjustment range, the change of h1 is made to be consistent with the size and direction of h2, and the change of h3 is consistent with the size and direction of h2; according to Get the new rotation amount of the second leg (10) and the third leg (11) and 6. The control method of a posture adaptive chassis according to claim 5, characterized in that: Based on the precise adjustment of the roll angle of the chassis, the rotation of the new leg mechanism (2) is solved to obtain a roll angle attitude close to the desired one, including: Calculate the difference between the actual roll angle and the expected roll angle, error: e r =Φ-Φ e ; Calculating the rotation increment of the third leg (11) by a proportional-integral-derivative controller; Proportional output P r =Kp r *e r , where Kp r is the proportional coefficient of pitch angle adjustment; Integral output I r =I r,last +Ki r *e r , where I r,last is the integral term of the previous control cycle, Ki r is the integration coefficient; Differential output D r =Kd r *(e r -e r,last ), where er,last is the roll angle error at the last moment, and Kdr is the differential coefficient; Total control output U r =P r +I r +D r , the total control output U r That is, the rotation increment of the third leg (11); Determining the new rotation amount of the second leg (10) and the third leg (11); In order to focus on the adjustment of the roll angle and increase the amplitude of attitude adjustment, the change of h1 is made to be consistent with the size and direction of h3, and the change of h2 is consistent with the size and direction of h3; according to Get the new rotation amount of the second leg (10) and the third leg (11) and 7. The control method of a posture adaptive chassis according to claim 6, characterized in that: Based on the precise adjustment of the height value of the chassis, the rotation amount of the new leg mechanism (2) is solved to obtain a posture close to the desired height value, including: Calculate the difference between the actual height and the expected height, error e h =HH e ; The incremental distance from the ground at the connection point between the posture adjustment motor (1) and the outrigger mechanism (2) is calculated by a proportional-integral-differential controller; Proportional output P h =Kp h *e h , where Kp h is the scaling factor for height adjustment; Integral output I h =I h,last +Ki h *e h , where I h,last is the integral term of the previous control cycle, Ki h is the integration coefficient; Differential output D h =Kd h *(e h -e h,last ), where eh,last is the height error at the last moment, and Kdh is the differential coefficient; Total control output U h =P h +I h +D h , the total control output U h That is, the incremental distance from the ground at the connection point between the posture adjustment motor (1) and the outrigger mechanism (2); Determine the new rotation amounts of the first leg (9), the second leg (10) and the third leg (11); In order to focus on the adjustment of the height value; according to the incremental distance from the ground at the connection point between the attitude adjustment motor (1) and the leg mechanism (2) and the old rotation amount of the first leg (9), the second leg (10) and the third leg (11), the incremental rotation amount of the first leg (9), the second leg (10) and the third leg (11) is calculated, so as to obtain the new rotation amount of the first leg (9), the second leg (10) and the third leg (11) and 8. The control method of a posture adaptive chassis according to claim 7, characterized in that: Integrate the adjustment results, determine the rotation amount of the four leg mechanisms (2), and improve the chassis posture, including: The calculated and As the final rotation amount output to the outrigger mechanism (2) in this cycle, and In the case of certainty, the attitude of the chassis can be determined; Determine the rotation amount of the fourth leg (12) The chassis can achieve a desired posture under the coordinated action of the four leg mechanisms (2).

Images