Four-legged robot self-powered trajectory sensing system and method based on friction power generation

Abstract

The application provides a four-legged robot self-powered trajectory sensing system and method based on friction power generation, which is used to solve the problem that the existing robot trajectory sensing fails in the absence of electricity and complex environment. The system comprises a fixed inductance coil, a capacitive compass angle conversion unit and a contact separation type friction nano power generation unit. The capacitive compass angle conversion unit comprises a compass and an angle capacitor, the capacitance value of the angle capacitor changes with the steering angle of the compass, the angle capacitor and the fixed inductance coil are connected in series to form an LC resonance signal output circuit, the contact separation type friction nano power generation unit is used to convert the robot stepping action into a pulse electric signal, and the energy for triggering the LC resonance signal output circuit is provided. The LC resonance signal output circuit is used to output a frequency signal representing the steering angle, and a complete walking trajectory is generated based on the frequency sequence of multiple steps and the fixed stride corresponding to a single robot stepping. The application realizes continuous walking trajectory self-powered, passive real-time sensing of the robot.

Description

Technical Field

[0001] This invention relates to the field of self-powered sensing and trajectory perception technology for robots, and in particular to a self-powered trajectory perception system and method for quadruped robots based on triboelectric power generation. Background Technology

[0002] Quadruped robots, with their strong adaptability to complex and unstructured terrain due to their discrete foot-end contact method, have become a research hotspot in the field of mobile robotics. Quadruped robots demonstrate advantages unmatched by wheeled and tracked robots in scenarios such as field transportation, hazardous environment reconnaissance, and industrial inspection. However, accurate trajectory perception capability is an indispensable core support for quadruped robots to achieve truly autonomous operation.

[0003] Trajectory perception is a core component of navigation, obstacle avoidance, and path planning for quadruped robots. Traditional trajectory perception solutions rely on gyroscopes, accelerometers, visual simultaneous localization and modeling (LSLM), and lidar, which suffer from problems such as requiring continuous power supply, complex structure, high cost, and failure in environments without power or with obstructions. At the same time, pure odometry is prone to cumulative errors and cannot independently complete accurate trajectory reconstruction. Summary of the Invention

[0004] The purpose of this invention is to provide a self-powered trajectory sensing system and method for quadruped robots based on triboelectric power generation. This addresses the technical problem of existing mobile robot trajectory sensing failing in the absence of electricity and under complex environments.

[0005] First, this application provides a self-powered trajectory sensing system for a quadruped robot based on triboelectric power generation, including a capacitive compass angle conversion unit and a fixed inductor coil installed on the robot, as well as a contact-separated triboelectric nanogenerator unit installed on the bottom of the robot's feet.

[0006] The capacitive compass angle conversion unit includes a compass and an angle capacitor. The capacitance value of the angle capacitor changes with the turning angle of the compass. The angle capacitor and a fixed inductor coil are connected in series to form an LC resonant signal output circuit. The contact-separated triboelectric nanogenerator unit is used to convert the robot's stepping motion into a pulse electrical signal and provide energy to trigger the LC resonant signal output circuit. The LC resonant signal output circuit is used to output a frequency signal representing the turning angle and generate a complete walking trajectory based on the frequency sequence of multiple steps and the fixed stride corresponding to a single step of the robot.

[0007] Optionally, the angle capacitor includes an upper capacitor plate and a lower capacitor plate;

[0008] The upper capacitor is mounted on the bottom of the compass and rotates synchronously with the compass. The lower capacitor is mounted on a fixed insulating base. The upper and lower capacitors are connected by air as a medium. The facing area of ​​the upper and lower capacitors changes continuously with the rotation angle of the compass.

[0009] Optionally, the lower capacitor sheet is an annular plate with a continuously varying outer diameter, and its outer edge profile follows Archimedes' vortex equation.

[0010] Optionally, the contact-separated triboelectric nanogenerator unit includes an upper triboelectric module and a lower triboelectric module, as well as an elastic reset structure disposed between the upper triboelectric module and the lower triboelectric module;

[0011] The upper friction module includes an upper FEP friction layer and an upper copper electrode stacked together, and the lower friction module includes a lower rubber friction layer and a lower copper electrode stacked together. When the elastic reset structure is in a free state, the lower rubber friction layer separates from the upper FEP friction layer. When the robot steps on it, the lower rubber friction layer contacts the upper FEP friction layer and outputs a single pulse discharge signal, which serves as the time and displacement reference for trajectory sampling.

[0012] Optionally, the thickness of the upper FEP friction layer is 30–50 μm, the thickness of the lower rubber friction layer is 100–200 μm, the thickness of the upper copper electrode and the lower copper electrode are both 10–30 μm, the single-step output pulse voltage of the robot is 10–50V, and the pulse voltage stably triggers the LC resonant signal output circuit.

[0013] Optionally, the upper friction module further includes an upper substrate and an upper support plate stacked together, and the lower friction module further includes a lower substrate and a lower support plate stacked together.

[0014] The elastic reset structure is a reset spring disposed between the upper support plate and the lower support plate. The side of the upper copper electrode away from the upper FEP friction layer is attached to the upper substrate, and the side of the lower copper electrode away from the lower rubber friction layer is attached to the lower substrate.

[0015] Optionally, the resonant frequency of the LC resonant signal output circuit changes synchronously with the capacitance value, each frequency point corresponds to a turning angle, and the frequency timing corresponds to the trajectory timing.

[0016] Secondly, this application provides a self-powered trajectory perception method for quadruped robots based on triboelectric power generation. The method employs the aforementioned self-powered trajectory perception system for quadruped robots based on triboelectric power generation, and the specific steps are as follows:

[0017] S1: Real-time acquisition of the timing of single-pulse discharge signals of the contact-separated triboelectric nanogenerator and the frequency signal of the LC resonant signal output circuit;

[0018] S2: Calculate the compass turning angle at each sampling moment based on the frequency signal of the LC resonant signal output circuit at each sampling moment;

[0019] S3: Generate a complete walking trajectory based on the turning angle at each sampling time and the fixed stride corresponding to a single step by the robot.

[0020] Optionally, the specific method in step S2 is as follows:

[0021] The resonant frequency of the LC resonant signal output circuit Calculate the current angle capacitance value. :

[0022]

[0023] in, To fix the inductance value of the inductor coil, To be related to the steering angle The relevant angular capacitance value, To match the steering angle The relevant resonant frequency, and One-to-one mapping to achieve angle frequency encoding;

[0024] Based on the current angle capacitance value Calculate the facing area of ​​the upper and lower copper electrodes. :

[0025]

[0026] in, The distance between the upper and lower copper electrodes. It is the dielectric constant;

[0027] Based on the current facing area of ​​the upper and lower copper electrodes Calculate the steering angle :

[0028]

[0029] in, The initial facing area of ​​the upper and lower copper electrodes, This represents the area and turning angle coefficients.

[0030] Optionally, the specific steps in step S3 are as follows:

[0031] S3.1: Construct a planar coordinate system with the initial position as the origin;

[0032] S3.2: with Starting from the position at that moment, and using the turning angle As a vector, with the robot's fixed stride. For the single-step displacement length, obtain the first... The position at that moment;

[0033] S3.3: Repeat step S3.2 to obtain... The complete walking trajectory is generated by plotting the positions at each sampling time point; where: , This represents the total number of samples.

[0034] Because of the adoption of the above technical solution, the present invention has the following advantages:

[0035] 1. This application realizes self-powered, passive, real-time perception of the continuous walking trajectory of a robot through angle sequence and stride counting, without the need for external power supply and complex circuits. It is suitable for trajectory recording, path backtracking and autonomous localization scenarios of fixed stride mobile robots.

[0036] 2. The compass in this application can directly respond to the robot's global turning. Combined with the variable area angle capacitor, it can achieve hysteresis-free and passive angle sampling, which improves the sampling accuracy.

[0037] 3. This application uses a foot-based friction nanogenerator to provide stride triggering and signal excitation. By outputting an angle-frequency timing signal through LC resonance, it achieves self-powered triggering and sampling time acquisition, thus overcoming the shortcomings of existing technologies in applications in powerless or complex environments. Attached Figure Description

[0038] The accompanying drawings of this invention are described below.

[0039] Figure 1 This is a schematic diagram of the self-powered trajectory sensing system for quadruped robots according to the present invention.

[0040] Figure 2 This is a circuit diagram of the self-powered trajectory sensing system for the quadruped robot of the present invention.

[0041] Figure 3 This is a schematic diagram of the capacitive compass angle conversion unit of the present invention.

[0042] Figure 4 This is a schematic diagram of the contact-separated triboelectric nanogenerator unit of the present invention.

[0043] Figure 5 This is a flowchart of the self-powered trajectory perception method for quadruped robots according to the present invention.

[0044] Figure 6This is a mapping diagram of the resonant frequency, steering angle, and angle capacitance value of the present invention, wherein: Figure 6 Figure (a) shows the relationship between steering angle and angle capacitance value. Figure 6 Figure (b) shows the relationship between the steering angle and the resonant frequency.

[0045] Figure 7 This is a COMSOL simulation diagram of the contact-separated triboelectric nanogenerator of this invention.

[0046] In the diagram: 1-Robot; 2-Capacitive compass angle conversion unit; 201-Compass; 202-Upper capacitor sheet; 203-Lower capacitor sheet; 204-Insulating base; 3-Contact-separated triboelectric nanogenerator unit; 301-Upper FEP friction layer; 302-Upper copper electrode; 303-Upper substrate; 304-Upper support plate; 305-Lower rubber friction layer; 306-Lower copper electrode; 307-Lower substrate; 308-Lower support plate; 309-Elastic reset structure; 4-Wireless embedded main control module; 5-Fixed inductor coil. Detailed Implementation

[0047] The present invention will be further described below with reference to the accompanying drawings and embodiments. The terms "upper," "lower," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not 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 on the embodiments of the present invention. In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "connected" or "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, an integral connection, an electrical connection, or a signal connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0048] Example 1:

[0049] like Figures 1-4 The self-powered trajectory sensing system for a quadruped robot based on triboelectric power generation includes a fixed inductor coil 5, a capacitive compass angle conversion unit 2, and a wireless embedded main control module 4 mounted on the robot 1; and a contact-separated triboelectric nanogenerator unit 3 mounted on the sole of the robot 1's foot.

[0050] like Figure 1 and Figure 3 As shown, the capacitive compass angle conversion unit 2 includes a compass 201 and an angle capacitor. The capacitance value of the angle capacitor changes with the turning angle of the compass 201. The angle capacitor and the fixed inductor coil 5 are connected in series to form an LC resonant signal output circuit.

[0051] The angle capacitor includes an upper capacitor plate 202 and a lower capacitor plate 203. The upper capacitor plate 202 is installed at the bottom of the compass 201 and rotates synchronously with the compass 201. The lower capacitor plate 203 is installed on a fixed insulating base 204. The upper capacitor plate 202 and the lower capacitor plate 203 use air as a medium. The facing area of ​​the upper capacitor plate 202 and the lower capacitor plate 203 changes continuously with the rotation angle of the compass 201.

[0052] As one embodiment of this application, the lower capacitor sheet 203 is an annular plate with a continuously varying outer diameter, and its outer edge profile follows the Archimedes vortex equation.

[0053] like Figure 1 and Figure 4 As shown, the contact-separated triboelectric nanogenerator unit 3 is used to convert the robot 1's stepping action into a pulse electrical signal and provide energy to trigger the LC resonant signal output circuit. The LC resonant signal output circuit is used to output a frequency signal characterizing the turning angle and generate a complete walking trajectory based on the frequency sequence of multiple steps and the fixed stride corresponding to a single step of the robot 1. The contact-separated triboelectric nanogenerator unit 3 includes an upper friction module and a lower friction module, as well as an elastic reset structure 309 disposed between the upper friction module and the lower friction module.

[0054] The upper friction module includes an upper support plate 304, an upper substrate 303, an upper copper electrode 302, and an upper FEP (fluorinated ethylene propylene) friction layer 301 stacked from top to bottom; the lower friction module includes a lower support plate 308, a lower substrate 307, a lower copper electrode 306, and a lower rubber friction layer 305 stacked from bottom to top; the elastic reset structure 309 is a reset spring disposed between the upper support plate 304 and the lower support plate 308.

[0055] When the elastic reset structure 309 is in a free state, the lower rubber friction layer 305 separates from the upper FEP friction layer 301. When the robot 1 steps on it, the lower rubber friction layer 305 contacts the upper FEP friction layer 301 and outputs a single pulse discharge signal, which serves as the time and displacement reference for trajectory sampling.

[0056] In this embodiment, the thickness of the upper FEP friction layer 301 is 30–50 μm, the thickness of the lower rubber friction layer 305 is 100–200 μm, the thickness of the upper copper electrode 302 and the lower copper electrode 306 is 10–30 μm, the single step output pulse voltage of the robot 1 is 10–50V, and the pulse voltage stably triggers the LC resonant signal output circuit.

[0057] In this embodiment, the resonant frequency of the LC resonant signal output circuit changes synchronously with the capacitance value, each frequency point corresponds to a turning angle, and the frequency timing corresponds to the trajectory timing.

[0058] In this embodiment, the capacitive compass angle conversion unit 2 is first assembled. A permanent magnet compass conforming to the design specifications is selected, and its bottom surface is polished to ensure the stability of subsequent bonding. A suitable acrylic or PTFE insulating base is selected and reliably fixed to the encapsulation shell by adhesive or threaded connection. This base restricts the axial displacement of the compass, ensuring the stability of the rotation center of the compass during operation. Then, a circular copper upper capacitor sheet 202 is used and coaxially bonded to the bottom of the compass 201, rotating synchronously with the compass 201. A fan-shaped array of copper lower capacitor sheets 203 is made on the upper surface of the insulating base 204. The parallel spacing of the upper and lower capacitor sheets is adjusted to 0.1–0.5 mm using a precision positioning fixture. Using air as the capacitor medium, it is ensured that when the compass 201 rotates, the facing area of ​​the upper and lower capacitor sheets changes continuously and monotonically with the turning angle, realizing the linear conversion from the robot's turning angle to the capacitance value. This achieves the continuous adjustment of the LC resonant frequency with the turning angle.

[0059] Next, the contact-separated triboelectric nanogenerator unit 3 is assembled. A 30–50 μm thick FEP film is selected as the upper FEP friction layer 301, which has a smooth surface and extremely high electronegativity. A 100–200 μm thick nitrile rubber or silicone rubber is selected as the lower rubber friction layer 305, which has low electronegativity and good elasticity and wear resistance. A thickness of 10–30 μm is deposited on the lower surface of the FEP and the upper surface of the rubber using magnetron sputtering or vacuum evaporation, respectively. A copper film is formed to create an upper copper electrode 302 and a lower copper electrode 306. Lead wires are pre-installed at the electrode edges for easy subsequent circuit connections. The upper copper electrode 302 is mounted onto the stacked upper substrate 303 and upper support plate 304, and the lower copper electrode 306 is mounted onto the stacked lower substrate 307 and lower support plate 308. A spring or elastic silicone pillar is provided between the upper support plate 304 and the lower support plate 308 as an elastic reset structure. Its elastic coefficient must match the robot's stepping pressure to ensure that the upper and lower friction layers can quickly return to their initial separated state after the robot lifts its foot.

[0060] Finally, the LC resonant signal output unit is assembled and debugged. A hollow inductor coil with a fixed inductance value (e.g., 100μH) is selected and connected in series with an angle capacitor to form an LC resonant signal output circuit. The upper and lower copper electrodes of the contact-separated triboelectric nano-power generation unit 3 are connected to the input terminal of the LC resonant signal output circuit to achieve pulse signal triggering. The resonant output signal is monitored by an oscilloscope or frequency counter, and the spacing between the upper and lower capacitor plates and the stiffness of the elastic reset structure are adjusted to ensure that a single step can stably trigger a resonance, and that the resonant frequency changes smoothly with the rotation angle of the compass without jumps or distortion.

[0061] The power generation principle and working process of this application are as follows: In the initial state, the lower rubber friction layer 305 and the upper FEP friction layer 301 remain separated under the action of the elastic reset structure 309, and there is no charge transfer; when the robot 1 steps on the bottom, the external force overcomes the elastic force, causing the lower rubber friction layer 305 and the upper FEP friction layer 301 to come into close contact. Due to the difference in electronegativity between the two, electrons transfer from the rubber surface to the FEP surface, making the upper FEP friction layer 301 negatively charged and the lower rubber friction layer 305 positively charged, forming a stable surface static charge; when the robot 1 lifts its foot, the external force disappears, and the elastic reset structure 309 pushes the lower rubber friction layer 305 and the upper FEP friction layer 301 to separate. At this time, the upper FEP... The negative charge on the surface of friction layer 301 and the positive charge on the surface of the lower rubber friction layer 305 are far apart. Under the action of electrostatic induction, the upper copper electrode 302 induces a positive charge and the lower copper electrode 306 induces a negative charge, forming a potential difference between the electrodes. As the separation distance increases, the potential difference continues to rise until it reaches the circuit conduction threshold. An instantaneous pulse discharge is formed through the external LC resonant signal output circuit, completing one conversion of mechanical energy into electrical energy. A single step-lift cycle corresponds to a complete charge generation, separation, and discharge process, outputting a pulse electrical signal. This signal serves as both the clock reference for trajectory sampling and the excitation energy for the LC resonant signal output circuit.

[0062] When the direction of movement of robot 1 changes, the angle capacitor is driven to change its capacitance value through the angle response characteristics of compass 201, thereby realizing the continuous adjustment of LC resonant frequency with the turning angle; and a complete walking trajectory is generated based on the frequency sequence of multiple steps and the fixed stride corresponding to a single step of robot 1; realizing the trajectory timing recording of "one step, one sample, one signal", solving the problems of traditional robot trajectory sensing requiring external power supply, complex structure and high cost.

[0063] Example 2:

[0064] like Figure 5The method for self-powered trajectory sensing of a quadruped robot based on triboelectric power generation, as shown in Example 1, employs the self-powered trajectory sensing system for a quadruped robot based on triboelectric power generation. The specific steps are as follows:

[0065] S1: Real-time acquisition of the timing of single-pulse discharge signals of the contact-separated triboelectric nanogenerator and the frequency signal of the LC resonant signal output circuit;

[0066] S2: Calculate the compass turning angle at each sampling moment based on the frequency signal from the LC resonant signal output circuit; the specific method is as follows:

[0067] The resonant frequency of the LC resonant signal output circuit Calculate the current angle capacitance value. :

[0068]

[0069] in, To fix the inductance value of the inductor coil, To match the steering angle The relevant angular capacitance value, To match the steering angle The relevant resonant frequency, and One-to-one mapping to achieve angle frequency encoding;

[0070] Based on the current angle capacitance value Calculate the facing area of ​​the upper and lower copper electrodes. :

[0071]

[0072] in, The distance between the upper and lower copper electrodes. It is the dielectric constant;

[0073] Based on the current facing area of ​​the upper and lower copper electrodes Calculate the steering angle :

[0074]

[0075] in, The initial facing area of ​​the upper and lower copper electrodes, This represents the area and turning angle coefficients.

[0076] S3: Generate a complete walking trajectory based on the turning angle at each sampling time and the fixed stride length corresponding to a single robot step; the specific steps are as follows:

[0077] S3.1: Construct a planar coordinate system with the initial position as the origin;

[0078] S3.2: with Starting from the position at that moment, and using the turning angle As a vector, with the robot's fixed stride. For the single-step displacement length, obtain the first... The position at that moment;

[0079] S3.3: Repeat step S3.2 to obtain... The complete walking trajectory is generated by plotting the positions at each sampling time point; where: , This represents the total number of samples.

[0080] Experiments and verification:

[0081] like Figure 6 As shown, a mapping relationship is constructed between resonant frequency, steering angle, and angular capacitance value. Figure 6 Figure (a) shows that as the robot's turning angle gradually increases from 0° to 360°, the facing area of ​​the lower vortex copper electrode and the upper fan-shaped copper electrode exhibits a monotonically increasing trend, leading to a continuous increase in capacitance as the angle increases. The ten sets of dots in the figure are uniformly distributed reference calibration points, which visually confirm that the sensor has good linearity and continuity across the entire measurement range, achieving accurate conversion from robot turning angle to electrical capacitance.

[0082] Figure 6 (b) combination Figure 6 The variation of the capacitance value at angle (a) shows that the frequency curve exhibits a significant nonlinear decreasing characteristic. In the initial range with a small angle, the frequency value is extremely high and the rate of decrease is extremely fast, reflecting the system's high sensitivity response to small angle changes; while in the range with a large angle, the frequency change tends to level off and decrease slowly, ensuring effective identification and measurement over a large angle range.

[0083] The two graphs, working in tandem, validate the core principle of this application: leveraging the structural characteristics of Archimedes' vortex curves, the robot's turning angle can be continuously converted into changes in capacitance; further, through the inherent electrical characteristics of the LC resonant circuit, the capacitance value is encoded into a unique corresponding resonant frequency. This relationship curve perfectly conforms to the monotonic correspondence of "angle increases - capacitance increases - frequency decreases," providing solid theoretical and data support for realizing self-powered, passive angle encoding of robot trajectories.

[0084] like Figure 7 As shown, the COMSOL simulation diagram of contact-separated triboelectric nanogenerator is derived from... Figure 7It can be seen that the potential amplitudes of the upper and lower electrodes are close, with a difference of only 0.3V, indicating good potential symmetry. The concentric arc-shaped equipotential lines diffuse outward from the electrodes, and the equipotential lines are smooth and without abrupt changes, which can provide stable and reliable trigger energy for the LC resonant signal output circuit.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A self-powered trajectory perception method for a quadruped robot based on triboelectric power generation, characterized in that, A self-powered trajectory sensing system for a quadruped robot based on triboelectric power generation is adopted. The system includes a capacitive compass angle conversion unit and a fixed inductor coil installed on the robot, as well as a contact-separated triboelectric nanogenerator unit installed on the bottom of the robot's feet. The capacitive compass angle conversion unit includes a compass and an angle capacitor. The capacitance value of the angle capacitor changes with the turning angle of the compass. The angle capacitor and a fixed inductor coil are connected in series to form an LC resonant signal output circuit. The contact-separated triboelectric nanogenerator unit is used to convert the robot's stepping action into a pulse electrical signal and provide energy to trigger the LC resonant signal output circuit. The LC resonant signal output circuit is used to output a frequency signal characterizing the turning angle and generate a complete walking trajectory based on the frequency sequence of multiple steps and the fixed stride corresponding to a single step of the robot. The specific steps of the self-powered trajectory perception method for quadruped robots based on triboelectric power generation are as follows: S1: Real-time acquisition of the timing of single-pulse discharge signals of the contact-separated triboelectric nanogenerator and the frequency signal of the LC resonant signal output circuit; S2: Calculate the compass turning angle at each sampling moment based on the frequency signal of the LC resonant signal output circuit at each sampling moment; S3: Generate a complete walking trajectory based on the turning angle at each sampling time and the fixed stride corresponding to a single step by the robot.

2. The self-powered trajectory perception method for a quadruped robot based on triboelectric power generation according to claim 1, characterized in that, The angle capacitor includes an upper capacitor plate and a lower capacitor plate; The upper capacitor is mounted on the bottom of the compass and rotates synchronously with the compass. The lower capacitor is mounted on a fixed insulating base. The upper and lower capacitors are connected by air as a medium. The facing area of ​​the upper and lower capacitors changes continuously with the rotation angle of the compass.

3. The self-powered trajectory perception method for a quadruped robot based on triboelectric power generation according to claim 2, characterized in that, The lower capacitor sheet is an annular plate with a continuously varying outer diameter, and its outer edge profile follows Archimedes' vortex equation.

4. The self-powered trajectory perception method for a quadruped robot based on triboelectric power generation according to claim 1, characterized in that, The contact-separated triboelectric nanogenerator unit includes an upper triboelectric module and a lower triboelectric module, as well as an elastic reset structure disposed between the upper triboelectric module and the lower triboelectric module; The upper friction module includes an upper FEP friction layer and an upper copper electrode stacked together, and the lower friction module includes a lower rubber friction layer and a lower copper electrode stacked together. When the elastic reset structure is in a free state, the lower rubber friction layer separates from the upper FEP friction layer. When the robot steps on it, the lower rubber friction layer contacts the upper FEP friction layer and outputs a single pulse discharge signal, which serves as the time and displacement reference for trajectory sampling.

5. The self-powered trajectory perception method for a quadruped robot based on triboelectric power generation according to claim 4, characterized in that, The thickness of the upper FEP friction layer is 30–50 μm, the thickness of the lower rubber friction layer is 100–200 μm, the thickness of the upper copper electrode and the lower copper electrode is 10–30 μm, the robot outputs a pulse voltage of 10–50V per step, and the pulse voltage stably triggers the LC resonant signal output circuit.

6. The self-powered trajectory perception method for a quadruped robot based on triboelectric power generation according to claim 5, characterized in that, The upper friction module further includes an upper substrate and an upper support plate stacked together, and the lower friction module further includes a lower substrate and a lower support plate stacked together. The elastic reset structure is a reset spring disposed between the upper support plate and the lower support plate. The side of the upper copper electrode away from the upper FEP friction layer is attached to the upper substrate, and the side of the lower copper electrode away from the lower rubber friction layer is attached to the lower substrate.

7. The self-powered trajectory perception method for a quadruped robot based on triboelectric power generation according to claim 1, characterized in that, The resonant frequency of the LC resonant signal output circuit changes synchronously with the capacitance value. Each frequency point corresponds to a turning angle, and the frequency timing corresponds to the trajectory timing.

8. The self-powered trajectory perception method for a quadruped robot based on triboelectric power generation according to claim 1, characterized in that, The specific method in step S2 is as follows: The resonant frequency of the LC resonant signal output circuit Calculate the current angle capacitance value. : in, To fix the inductance value of the inductor coil, To be related to the steering angle The relevant angular capacitance value, To be related to the steering angle The relevant resonant frequency, and One-to-one mapping to achieve angle frequency encoding; Based on the current angle capacitance value Calculate the facing area of ​​the upper and lower copper electrodes. : in, The distance between the upper and lower copper electrodes. It is the dielectric constant; Based on the current facing area of ​​the upper and lower copper electrodes Calculate the steering angle : in, The initial facing area of ​​the upper and lower copper electrodes, This represents the area and turning angle coefficients.

9. The self-powered trajectory perception method for a quadruped robot based on triboelectric power generation according to claim 8, characterized in that, The specific steps in step S3 are as follows: S3.1: Construct a planar coordinate system with the initial position as the origin; S3.2: Starting from the position at time i, and using the turning angle... As a vector, with the robot's fixed stride. Given the single-step displacement length, obtain the position at time i+1. S3.3: Repeat step S3.2 to obtain... The complete walking trajectory is generated by plotting the positions at each sampling time point; where: , This represents the total number of samples.

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