CN105752186A - Wheel-foot switching robot system and control method thereof - Google Patents
Wheel-foot switching robot system and control method thereof Download PDFInfo
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- CN105752186A CN105752186A CN201610303924.8A CN201610303924A CN105752186A CN 105752186 A CN105752186 A CN 105752186A CN 201610303924 A CN201610303924 A CN 201610303924A CN 105752186 A CN105752186 A CN 105752186A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention provides a wheel-foot switching type robot system and a control method thereof, a six-foot walking mechanism and a four-wheel moving mechanism are simultaneously arranged on a main disc of the robot, an environmental barrier is detected by a lower photoelectric sensor, when no obstacle is detected, the controller controls the four-wheel moving mechanism to move, the wheel-type walking can be suitable for walking on a plane road surface, when the photoelectric sensor detects an obstacle, the photoelectric sensor transmits an obstacle signal to the controller in real time, the controller responds to the obstacle signal to control the robot to move from the four-wheel moving mechanism to be switched into the six-foot walking mechanism to walk with feet, the feet are flexible and can walk in an obstacle road section more easily, in the foot walking process, the feet support the ground so that the main disc of the robot is lifted to drive the four walking wheels to lift, friction between the walking wheels and the ground is prevented, and the feet can walk more flexibly.
Description
Technical field
The present invention relates to robot field, particularly to be a kind of wheel foot suitching type robot system and control method thereof.
Background technology
Along with the development of technology, robot is applied to the various aspects of productive life.The robot with locomotive function is widely used in the material handling in automated production workshop, space exploration, ocean development, service, medical treatment and nursing, building, agriculture and forestry, special trade (core, contaminated environment etc.), military affairs etc..
Allow robot move up the simplest most straightforward approach and load onto wheel to him exactly, both ratcheting mechanism.This wheel type " foot " can stably move at a high speed, and simple in construction is easy to operate, but the requirement of road pavement is higher, is only applicable to smooth ground moving.When running into that road surface is uneven, when even having the situation of high-low staggered-floor, then robot cannot pass through, existing mode generally can adopt robot to take a devious route, to circumvent obstacle section, but it is easy to so that robot deviates predetermined trajectory walking, goes wrong, and still cannot solve the problem of walking in the road conditions of high-low staggered-floor.
Summary of the invention
The technical problem to be solved is to provide a kind of wheel foot suitching type robot system, it is possible to according to whether there is Environment Obstacles thing and walk in foot business concern operating a porters' service and switch between the two with running on wheels, overcome the problem of difficulty in walking under obstacle road conditions.
For solving the problems referred to above, the present invention proposes a kind of wheel foot suitching type robot system, including: robot master, six-legged walking machine structure, four-wheel travel mechanism, photoelectric sensor, controller；Described robot master is provided with analyzing rod vertically upward；Described six-legged walking machine structure includes six three joint foot feet, and described six foot three joint foot foot uniform intervals are around the position, edge being arranged on described robot master；Described four-wheel travel mechanism includes four road wheels, and described four road wheels are separately positioned on be centrosymmetric four positions of described robot master；Described photoelectric sensor includes lower photoelectric sensor, and described lower photoelectric sensor is arranged on the certain altitude of analyzing rod, and in order to detection environment barrier in robot moving process, corresponding dyspoiesis signal real-time Transmission give described controller；Described controller controls described six-legged walking machine structure and lifts and control described four-wheel travel mechanism and move when not receiving the obstacle signal of described lower photoelectric sensor, and described controller controls described six-legged walking machine structure and declines to supporting ground and control described six-legged walking machine structure and walk when receiving the obstacle signal of described lower photoelectric sensor.
According to one embodiment of present invention, described photoelectric sensor also include in order in robot moving process, detect environment barrier and corresponding dyspoiesis signal real-time Transmission to the upper photoelectric sensor of described controller, described upper photoelectric sensor is arranged on the position higher than described lower photoelectric sensor of described analyzing rod；Control described four-wheel travel mechanism during the obstacle signal of described controller photoelectric sensor on receiving to stop mobile or described six-legged walking machine structure and stop walking.
According to one embodiment of present invention, described analyzing rod has scale, described lower photoelectric sensor and upper photoelectric sensor slidable connection and can be locked on described analyzing rod on described analyzing rod.
According to one embodiment of present invention, described robot master includes the top plate linked together separated by a distance and lower plywood up and down, and described top plate and lower plywood are all in regular hexagon；Four road wheels of described four-wheel travel mechanism are arranged on the lower section of described lower plywood, and six three joint foot feet of described six-legged walking machine structure are separately positioned on the centre position of top plate each edge；When described controller controls the walking of described six-legged walking machine structure, three alternate three joint foot feet are one group of foot foot, and two groups of foot feet are controlled alternately to be lifted successively, stretch out, put down.
According to one embodiment of present invention, central authorities at the lower plywood of described robot master are additionally provided with the support portion that can stretch up and down, described support portion include for the plectane of earth surface and the pole that can stretch up and down, one end of described pole connects described plectane, the other end connect described lower plywood, described pole elongation time can lifting robot master thus four-wheel travel mechanism is lifted away from ground.
According to one embodiment of present invention, also include the DC servo motor in order to drive under the control of described controller, described DC servo motor includes the pass in 18 each joints in order to drive six three joint foot feet and saves digital rudder controller, and 4 in order to drive the road wheel digital rudder controller of four road wheels；Described controller is single-chip microcomputer, described single-chip microcomputer has at least 4 railway digital rudder control interfaces, first digital rudder controller controls interface and is taken by 4 road wheel digital rudder controllers, second digital rudder controller control interface is saved digital rudder controller by the pass of two front foots and is taken, 3rd digital rudder controller control interface is saved digital rudder controller by the pass of two mesopodiums and is taken, and the 4th digital rudder controller control interface is saved digital rudder controller by the pass of two metapedes and taken.
According to one embodiment of present invention, taking and be serially connected by connection between the digital rudder controller of same digital rudder controller control interface, each digital rudder controller adopts half-duplex asynchronous serial bus communication mode, and each digital rudder controller is assigned different steering wheel marks.
The present invention also provides for the control method of a kind of wheel foot suitching type robot system in previous embodiment as described in any one, comprises the following steps:
S1: under original state, controller controls four-wheel travel mechanism and moves, it is achieved the running on wheels of robot；
S2: in robot moving process, lower photoelectric sensor detection environment barrier, if detecting Environment Obstacles thing, then corresponding dyspoiesis signal real-time Transmission give described controller；
S3: controller controls in response to described obstacle signal to switch to foot business concern operating a porters' service to walk, controls described four-wheel travel mechanism and stops mobile, described six-legged walking machine structure walking, so that Environment Obstacles thing is crossed over by robot；
S4: controller controls again to switch back into four-wheel travel mechanism after robot across obstacle and moves.
According to one embodiment of present invention, in described step S2, in robot moving process, lower photoelectric sensor and upper photoelectric sensor detect environment barrier simultaneously, if lower photoelectric sensor and/or upper photoelectric sensor detect Environment Obstacles thing, then corresponding dyspoiesis signal real-time Transmission give described controller；In described step S3, if controller only receives the obstacle signal of lower photoelectric sensor, control to switch to foot business concern operating a porters' service to walk, if controller is simultaneously received lower photoelectric sensor and the obstacle signal of upper photoelectric sensor, controls described four-wheel travel mechanism and retreat, turn, to avoid Environment Obstacles thing.
According to one embodiment of present invention, in an initial condition, six three joint foot feet of six-legged walking machine structure are lifted away from ground；When switching to foot business concern operating a porters' service to walk, controller controls six three foot foot supporting descending ground, joint, and three alternate three joint foot feet are one group of foot foot, and controller then controls two groups of foot feet alternately to be lifted successively, stretch out, puts down.
nullAfter adopting technique scheme，The present invention has the advantages that compared to existing technology and arranges six-legged walking machine structure and four-wheel travel mechanism on robot master simultaneously，Environment barrier is detected by lower photoelectric sensor，When being not detected by barrier，Controller controls four-wheel travel mechanism and moves，Running on wheels go for plane road surface up walk，Instantly photoelectric sensor detects that barrier then real-time Transmission obstacle signal is to controller，Controller control in response to obstacle signal robot from four-wheel travel mechanism mobile handoff be six-legged walking machine structure carry out foot business concern operating a porters' service walk，Foot foot is comparatively flexible，It is easier in obstacle section and walks，In foot foot walking process，Foot foot supports ground and makes robot master lifting thus driving four road wheel liftings，Thus preventing the friction of road wheel and ground，Also foot foot is made to walk more flexible.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the wheel foot suitching type robot system of the embodiment of the present invention；
Fig. 2 is the structural representation of the Lun Zu suitching type robot of the embodiment of the present invention；
Fig. 3 is the schematic flow sheet of the control method of the Lun Zu suitching type robot of the embodiment of the present invention.
Detailed description of the invention
Understandable for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from, below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.
Elaborate a lot of detail in the following description so that fully understanding the present invention.But the present invention can implement being much different from alternate manner described here, and those skilled in the art can do similar popularization when without prejudice to intension of the present invention, therefore the present invention is by the following public restriction being embodied as.
Referring to Fig. 1, the wheel foot suitching type robot system of the present embodiment, including: robot master, six-legged walking machine structure 2, four-wheel travel mechanism 3, photoelectric sensor, controller 5.Six-legged walking machine structure 2, four-wheel travel mechanism 3, photoelectric sensor and controller equal 5 are arranged on robot master, the walking of six-legged walking machine structure 2 and the movement of four-wheel travel mechanism 3 can band mobile robot master so that whole robot ambulation or movement.Robot master is additionally provided with analyzing rod vertically upward.
Referring to Fig. 2, six-legged walking machine structure 2 includes six three joint foot feet, and six foot three joint foot foot uniform intervals are around the position, edge being arranged on robot master.Three joint foot business concern operating a porters' service are moved more flexible, and uniform intervals is around being arranged on robot master periphery, it is possible to strengthen the stability of robot ambulation, it is prevented that robot generation centre-of gravity shift in walking process.
Four-wheel moving machine 3 includes four road wheels, and four road wheels are separately positioned on be centrosymmetric four positions of robot master, and four road wheels can be driving wheel, strengthen the walking stability of robot, it is not easy stuck, it is simple to the control of moving direction, is also not easy to be absorbed in hole.It is also preferred that the left four road wheels are in distribution before and after between two, walking stability and turn to reliability higher, but without limitation, four road wheels such as can also be arranged side by side.Front and back are relative, and the reference of fore-and-aft direction is according to the direction of advance that can be robot.
Photoelectric sensor includes lower photoelectric sensor 41, lower photoelectric sensor 41 is arranged on the certain altitude of analyzing rod, such that it is able to whether the anterior position detecting this height exists Environment Obstacles thing, the detection of lower photoelectric sensor 41 is the Environment Obstacles thing in front in robot advance process, and the probe of lower photoelectric sensor 41 is towards front.Lower photoelectric sensor 41 detects environment barrier in robot moving process, the corresponding dyspoiesis signal when detecting Environment Obstacles thing, and obstacle signal is transferred to controller 5 in real time.Controller 5 is not when receiving the obstacle signal of lower photoelectric sensor 41, control six-legged walking machine structure 2 lifts and controls four-wheel travel mechanism 3 and moves, and when receiving the obstacle signal of lower photoelectric sensor 41, control six-legged walking machine structure 2 and decline to support ground and control six-legged walking machine structure 2 to walk.
In one embodiment, photoelectric sensor can also include photoelectric sensor 42, upper photoelectric sensor 42 is arranged on the position higher than lower photoelectric sensor 41 of analyzing rod, thus when upper photoelectric sensor 42 detects barrier, lower photoelectric sensor 41 also can detect barrier accordingly.Lower photoelectric sensor 41 and upper photoelectric sensor 42 can be such as infrared sensors.In robot moving process, upper photoelectric sensor 42 and lower photoelectric sensor 41 detect environment barrier simultaneously, the all corresponding dyspoiesis signal when both are concurrently detected Environment Obstacles thing, and by obstacle signal real-time Transmission to controller 5, during the obstacle signal of controller 5 photoelectric sensor 42 on receiving, control four-wheel travel mechanism 3 and stop mobile or six-legged walking machine structure 2 stopping walking, owing to the position of upper photoelectric sensor 42 is higher than the position of lower photoelectric sensor 41, when upper photoelectric sensor 42 also is able to detect barrier, the excessive height of barrier is described, robot cannot walk to cross in the past by foot business concern operating a porters' service, thus controller 5 first controls to stop the advance of robot, then can control four-wheel travel mechanism 3 to be moved rearwards by, retreat and turn, with cut-through section.
Preferably, analyzing rod has scale, lower photoelectric sensor 41 and upper photoelectric sensor 42 slidable connection and can be locked on analyzing rod on analyzing rod, such that it is able to adjust the height of the barrier that robot can cross over, to be adapted to the robot of different scales, and the obstacle signal generated according to lower photoelectric sensor 41 and upper photoelectric sensor 42 can know the general height scope of barrier.
Referring to Fig. 2, in one embodiment, robot master can include the top plate 11 and the lower plywood 12 that link together, and top plate 11 and lower plywood about 12 are separated by a distance, and top plate 11 and lower plywood 12 are all in regular hexagon.Four road wheels of four-wheel travel mechanism 3 are arranged on the lower section of lower plywood 12, six three joint foot feet of six-legged walking machine structure 2 are separately positioned on the centre position of top plate 11 each edge, when running on wheels, six three joint foot feet are controlled is raised out ground, owing to six three joint foot feet are arranged on top plate 11, and four road wheels are arranged on below lower plywood 12, there is certain distance between the two, such that it is able to reduce the distance of six foot three joint foot foot liftings, and then reduce the overall energy consumption of robot.Controller 5 controls six-legged walking machine structure 2 when walking, and three three joint foot feet of alternate on top plate 11 (non-adjacent) are one group of foot foot, and two groups of foot feet are controlled alternately to be lifted successively, stretch out, put down.In the process of walking, non-conterminous tripodia can be made to land all the time, the strong point on ground is more, improve the stability of movement, it is not easy to cause robot overturning.
In one embodiment, central authorities at the lower plywood 12 of robot master are additionally provided with the support portion (not shown) that can stretch up and down, support portion include for the plectane of earth surface and the pole that can stretch up and down, one end of pole connects plectane, the other end connect lower plywood 12, pole elongation time can lifting robot master thus four-wheel travel mechanism 3 is lifted away from ground.When robot stops work, robot is without walking, if and road wheel is permanently connected to ground, easily cause the damage of road wheel after permanent, thus when robot need not walk, supported by support portion, four road wheels are made to leave ground, six sufficient feet lift in an initial condition, thus leave ground equally when walking, it is possible to extend the service life of the walking mechanism of robot.Support portion is arranged on central authorities' (yes extends below) of lower plywood 12 at lower plywood, it is ensured that the stability of support.
With continued reference to Fig. 1, wheel foot suitching type robot system also includes DC servo motor 6.DC servo electricity, 6 are driven under the control of controller 5.DC servo motor 6 can include 18 passes and save digital rudder controller and 4 road wheel digital rudder controllers.Each road wheel arranges a road wheel digital rudder controller to drive walking, and each joint of six sufficient feet 2 arranges a pass and saves digital rudder controller and carry out drive actions.
Digital rudder controller such as can adopt model to be CDS5516 digital rudder controller.Digital rudder controller uses half-duplex asynchronous serial bus communication mode.Each digital rudder controller is equipped with signaling interface.Signaling interface is connected with the digital interface of controller, to receive control signal.And can connect simply by connection concatenation between these motors, as long as distributing different identification number interfaces to when controlling different digital steering wheel, corresponding digital rudder controller is controlled accordingly, thus controlling the gait of robot motion, speed and direction.
Controller 5 is single-chip microcomputer, single-chip microcomputer has at least 4 railway digital rudder control interfaces, first digital rudder controller controls interface and is taken by 4 road wheel digital rudder controllers, second digital rudder controller control interface is saved digital rudder controller by the pass of two front foots and is taken, 3rd digital rudder controller control interface is saved digital rudder controller by the pass of two mesopodiums and is taken, and the 4th digital rudder controller control interface is saved digital rudder controller by the pass of two metapedes and taken.In other words, be connected by connection between 4 road wheel digital rudder controllers, concatenate a last road wheel digital rudder controller be connected to controller first digital rudder controller control interface, to receive control signal；The pass of two front foots save between digital rudder controller by connection be connected, concatenate a last pass save digital rudder controller be connected to controller second digital rudder controller control interface, to receive control signal；The pass of two mesopodiums save between digital rudder controller by connection be connected, concatenate a last pass save digital rudder controller be connected to controller the 3rd digital rudder controller control interface, to receive control signal；The pass of two metapedes save between digital rudder controller by connection be connected, concatenate a last pass save digital rudder controller be connected to controller the 4th digital rudder controller control interface, to receive control signal.Each digital rudder controller has different labellings number, labelling number that each digital rudder controller carries according to control signal and receive the control signal as self.
Preferably, every sufficient foot of six sufficient feet to land position 21 L-shaped, the L-type of every sufficient foot is landed the transverse part at position 21 and is connected with the joint of its front end, the L-type of every sufficient foot land position 21 vertical part partly or entirely towards transverse part bend, vertical part is used for floor-type support, and the L-type of every sufficient foot is landed the side, right angle at position 21 and is provided towards robot master.It is to say, L-type lands the vertical part at position 21 towards the bending of robot master, six sufficient feet land position 21 in the trend mutually drawn close, support during ground more firm.
Referring to Fig. 3, the present invention also provides for the control method of a kind of wheel foot suitching type robot system in previous embodiment as described in any one, comprises the following steps:
S1: under original state, controller controls four-wheel travel mechanism and moves, it is achieved the running on wheels of robot；
S2: in robot moving process, lower photoelectric sensor detection environment barrier, if detecting Environment Obstacles thing, then corresponding dyspoiesis signal real-time Transmission give described controller；
S3: controller controls in response to described obstacle signal to switch to foot business concern operating a porters' service to walk, controls described four-wheel travel mechanism and stops mobile, described six-legged walking machine structure walking, so that Environment Obstacles thing is crossed over by robot；
S4: controller controls again to switch back into four-wheel travel mechanism after robot across obstacle and moves.
Control method below in conjunction with the wheel foot suitching type robot system of-3 couples of present invention of Fig. 1 describes in further detail.
In step sl, robot starts, and original state is running on wheels, and controller 5 controls four-wheel travel mechanism 3 and moves, and now six three joint foot feet of six-legged walking machine structure 2 are raised out ground, and running on wheels is applicable to robot in smooth ground walking.
Then, in step s 2, in robot running on wheels process, lower photoelectric sensor 41 constantly detects the Environment Obstacles thing in walking front, if detecting Environment Obstacles thing, and corresponding dyspoiesis signal, and obstacle signal is transferred in real time controller 5.
Optionally, when arranging lower photoelectric sensor 41 and upper photoelectric sensor 42 on robot master, in step s 2, in robot moving process, lower photoelectric sensor 41 and upper photoelectric sensor 42 detect environment barrier simultaneously, if lower photoelectric sensor 41 and/or upper photoelectric sensor 42 detect Environment Obstacles thing, then respective corresponding dyspoiesis signal real-time Transmission are to controller 5.
Then, in step s3, when robot master only arranges lower photoelectric sensor 41, then controller 5 receives the obstacle signal of lower photoelectric sensor 41, just control four-wheel travel mechanism 3 and stop mobile, control six-legged walking machine structure 2 to walk, so that walking manner to switch to foot business concern operating a porters' service walk, thus across obstacle.
When arranging lower photoelectric sensor 41 and upper photoelectric sensor 42 on robot master, then in step s3, if controller 5 only receives the obstacle signal of lower photoelectric sensor 41, then control to switch to foot business concern operating a porters' service to walk, if controller 5 is simultaneously received the obstacle signal of both lower photoelectric sensor 41 and upper photoelectric sensor 42, then control four-wheel travel mechanism 3 to retreat, turn, to avoid Environment Obstacles thing, it is prevented that barrier is too high and occurs that robot foot business concern operating a porters' service is walked to be difficult to the situation crossed over.
Then, in step s 4, if robot switches to foot business concern operating a porters' service to walk and after across obstacle, controller 5 controls again to switch back into four-wheel travel mechanism 3 and moves.Range sensor can be set at lower plywood 12 lower surface of robot, range sensor senses its distance to ground, on obstacle section, distance is less, and after leaping over obstacles section, distance becomes big and remains unchanged, and now just can control to switch back into four-wheel travel mechanism 3 and move, to reduce the power consumption of robot system.
In one embodiment, in an initial condition, six three joint foot feet of six-legged walking machine structure 2 are lifted away from ground.When switching to foot business concern operating a porters' service to walk, controller 5 controls six three foot foot supporting descending ground, joint, and three three joint foot feet alternate on robot master are one group of foot foot, and controller 5 then controls two groups of foot feet alternately to be lifted successively, stretch out, puts down.
Control method other guide about the wheel foot suitching type robot system of the present invention may refer to the aforementioned description content taking turns foot suitching type robot system of the present invention, something in common, does not repeat them here.
Although the present invention is with preferred embodiment openly as above; but it is not for limiting claim; any those skilled in the art are without departing from the spirit and scope of the present invention; can making possible variation and amendment, therefore protection scope of the present invention should be as the criterion with the scope that the claims in the present invention define.
Claims (10)
1. a wheel foot suitching type robot system, it is characterised in that including: robot master, six-legged walking machine structure, four-wheel travel mechanism, photoelectric sensor, controller；Described robot master is provided with analyzing rod vertically upward；Described six-legged walking machine structure includes six three joint foot feet, and described six foot three joint foot foot uniform intervals are around the position, edge being arranged on described robot master；Described four-wheel travel mechanism includes four road wheels, and described four road wheels are separately positioned on be centrosymmetric four positions of described robot master；Described photoelectric sensor includes lower photoelectric sensor, and described lower photoelectric sensor is arranged on the certain altitude of analyzing rod, and in order to detection environment barrier in robot moving process, corresponding dyspoiesis signal real-time Transmission give described controller；Described controller controls described six-legged walking machine structure and lifts and control described four-wheel travel mechanism and move when not receiving the obstacle signal of described lower photoelectric sensor, and described controller controls described six-legged walking machine structure and declines to supporting ground and control described six-legged walking machine structure and walk when receiving the obstacle signal of described lower photoelectric sensor.
2. wheel foot suitching type robot system as claimed in claim 1, it is characterized in that, described photoelectric sensor also include in order in robot moving process, detect environment barrier and corresponding dyspoiesis signal real-time Transmission to the upper photoelectric sensor of described controller, described upper photoelectric sensor is arranged on the position higher than described lower photoelectric sensor of described analyzing rod；Control described four-wheel travel mechanism during the obstacle signal of described controller photoelectric sensor on receiving to stop mobile or described six-legged walking machine structure and stop walking.
3. wheel foot suitching type robot system as claimed in claim 2, it is characterised in that there is on described analyzing rod scale, described lower photoelectric sensor and upper photoelectric sensor slidable connection and and can be locked on described analyzing rod on described analyzing rod.
4. wheel foot suitching type robot system as claimed in claim 1, it is characterised in that described robot master includes the top plate linked together separated by a distance and lower plywood up and down, and described top plate and lower plywood are all in regular hexagon；Four road wheels of described four-wheel travel mechanism are arranged on the lower section of described lower plywood, and six three joint foot feet of described six-legged walking machine structure are separately positioned on the centre position of top plate each edge；When described controller controls the walking of described six-legged walking machine structure, three alternate three joint foot feet are one group of foot foot, and two groups of foot feet are controlled alternately to be lifted successively, stretch out, put down.
5. wheel foot suitching type robot system as claimed in claim 4, it is characterized in that, central authorities at the lower plywood of described robot master are additionally provided with the support portion that can stretch up and down, described support portion include for the plectane of earth surface and the pole that can stretch up and down, one end of described pole connects described plectane, the other end connect described lower plywood, described pole elongation time can lifting robot master thus four-wheel travel mechanism is lifted away from ground.
6. wheel foot suitching type robot system as claimed in claim 1, it is characterized in that, also include the DC servo motor in order to drive under the control of described controller, described DC servo motor includes the pass in 18 each joints in order to drive six three joint foot feet and saves digital rudder controller, and 4 in order to drive the road wheel digital rudder controller of four road wheels；Described controller is single-chip microcomputer, described single-chip microcomputer has at least 4 railway digital rudder control interfaces, first digital rudder controller controls interface and is taken by 4 road wheel digital rudder controllers, second digital rudder controller control interface is saved digital rudder controller by the pass of two front foots and is taken, 3rd digital rudder controller control interface is saved digital rudder controller by the pass of two mesopodiums and is taken, and the 4th digital rudder controller control interface is saved digital rudder controller by the pass of two metapedes and taken.
7. wheel foot suitching type robot system as claimed in claim 6, it is characterized in that, take and be serially connected by connection between the digital rudder controller of same digital rudder controller control interface, each digital rudder controller adopts half-duplex asynchronous serial bus communication mode, and each digital rudder controller is assigned different steering wheel marks.
8. the control method of the wheel foot suitching type robot system in claim 1-7 as described in any one, it is characterised in that comprise the following steps:
S1: under original state, controller controls four-wheel travel mechanism and moves, it is achieved the running on wheels of robot；
S2: in robot moving process, lower photoelectric sensor detection environment barrier, if detecting Environment Obstacles thing, then corresponding dyspoiesis signal real-time Transmission give described controller；
S3: controller controls in response to described obstacle signal to switch to foot business concern operating a porters' service to walk, controls described four-wheel travel mechanism and stops mobile, described six-legged walking machine structure walking, so that Environment Obstacles thing is crossed over by robot；
S4: controller controls again to switch back into four-wheel travel mechanism after robot across obstacle and moves.
9. the control method of wheel foot suitching type robot system as claimed in claim 8, it is characterized in that, in described step S2, in robot moving process, lower photoelectric sensor and upper photoelectric sensor detect environment barrier simultaneously, if lower photoelectric sensor and/or upper photoelectric sensor detect Environment Obstacles thing, then corresponding dyspoiesis signal real-time Transmission give described controller；In described step S3, if controller only receives the obstacle signal of lower photoelectric sensor, control to switch to foot business concern operating a porters' service to walk, if controller is simultaneously received lower photoelectric sensor and the obstacle signal of upper photoelectric sensor, controls described four-wheel travel mechanism and retreat, turn, to avoid Environment Obstacles thing.
10. the control method of wheel foot suitching type robot system as claimed in claim 8, it is characterised in that in an initial condition, six three joint foot feet of six-legged walking machine structure are lifted away from ground；When switching to foot business concern operating a porters' service to walk, controller controls six three foot foot supporting descending ground, joint, and three alternate three joint foot feet are one group of foot foot, and controller then controls two groups of foot feet alternately to be lifted successively, stretch out, puts down.
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| CN106740738A (en) * | 2016-11-18 | 2017-05-31 | 云南电网有限责任公司电力科学研究院 | One kind may span across formula detection robot, control method and device |
| CN107856753A (en) * | 2017-11-28 | 2018-03-30 | 华中科技大学 | A kind of water seepage of tunnel detection robot based on Multi-sensor Fusion |
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