WO2022100042A1 - 一种仿生机械足部装置、仿生机械及其控制方法 - Google Patents

一种仿生机械足部装置、仿生机械及其控制方法 Download PDF

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Publication number
WO2022100042A1
WO2022100042A1 PCT/CN2021/093416 CN2021093416W WO2022100042A1 WO 2022100042 A1 WO2022100042 A1 WO 2022100042A1 CN 2021093416 W CN2021093416 W CN 2021093416W WO 2022100042 A1 WO2022100042 A1 WO 2022100042A1
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WO
WIPO (PCT)
Prior art keywords
foot
foot device
bottom end
face
ground
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/093416
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English (en)
French (fr)
Inventor
熊坤
戴媛
张东胜
陈相羽
杨思成
张正友
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tencent Technology (Shenzhen) Co Ltd
Original Assignee
Tencent Technology (Shenzhen) Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tencent Technology (Shenzhen) Co Ltd filed Critical Tencent Technology (Shenzhen) Co Ltd
Priority to EP21890575.0A priority Critical patent/EP4053002A4/en
Publication of WO2022100042A1 publication Critical patent/WO2022100042A1/zh
Priority to US17/750,187 priority patent/US20220281099A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086—Proximity sensors

Definitions

  • the present application relates to the technical field of bionic machinery, and in particular, to a bionic mechanical foot device, a bionic machinery and a control method thereof.
  • the embodiments of the present application provide a bionic mechanical foot device, a bionic machine and a control method thereof, which are used to reduce design cost and processing complexity.
  • a bionic mechanical foot device comprising a foot body, a pressure sensor and a distance sensor; the pressure sensor is connected to the foot body and is used to detect the distance between the bottom end face of the foot body and the ground. pressure; the distance sensor is located on the bottom end surface and connected with the foot body, and is used for detecting the distance between the bottom end surface and the ground.
  • a bionic machine in one aspect, includes a leg device and a control device, and the above-mentioned foot device, the foot device is connected with the leg device.
  • a method for controlling a bionic machine where the bionic machine is the bionic machine described in the previous aspect, and the method includes:
  • the foot device of the bionic machine includes a foot body, a pressure sensor and a distance sensor.
  • the distance sensor can detect the distance between the bottom end face of the foot body and the ground
  • the pressure sensor can detect the distance between the bottom end face of the foot body and the ground.
  • the pressure between the bottom end face of the foot body and the ground.
  • the bionic mechanical control device can precisely control the landing point of the bionic mechanical foot device based on the distance between the bottom end face of the foot body and the ground and the pressure between the bottom end face of the foot body and the ground. Due to the combination of the pressure sensor and the distance sensor with other parts of the bionic machine, the precise control of the foothold of the bionic machine can be realized, and the number of sensors used is low, the cost is low, and the circuit is simple.
  • FIG. 1 is a schematic structural diagram of a bionic mechanical foot device provided in an embodiment of the application.
  • FIG. 2 is a schematic cross-sectional view of a foot device provided in an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of a support member provided in an embodiment of the present application.
  • FIG. 4 is a schematic top view of the right side of the foot device provided by the embodiment of the present application.
  • FIG. 5 is a schematic bottom view of the right side of the foot device provided by the embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a bionic machine provided by an embodiment of the present application.
  • Biomimetic machinery is a machine designed and transformed by studying and discussing biological mechanisms and imitating the shape, structure or function of organisms. It can be considered that a bionic machine has the same precise conditions as the moving organs of a living thing, but also has an excellent intelligent system, which can perform ingenious control and perform complex actions.
  • a typical bionic machine such as a mechanical dog, has similar appearance characteristics to animal dogs, and can simulate animal dogs to achieve certain actions and assist in realizing certain functions.
  • Mechanical dogs have broad prospects for development in the military, logistics, and security fields. For example, they can play an important role on the battlefield, delivering ammunition, food, and other items to soldiers.
  • a pressure sensor is a device or device that can sense the pressure signal and convert the pressure signal into a usable output signal according to certain rules.
  • a distance sensor also known as a displacement sensor, is a type of sensor used to sense the distance between it and an object to complete a preset function.
  • the spring washer can be used to install under the nut to prevent the nut from loosening and increase the function of the pre-tightening force.
  • the spring washer is used for the pressure sensor. of zeroing. Its materials are stainless steel and carbon steel, of course, according to the needs, you can choose the appropriate material.
  • the solutions provided by the embodiments of the present application mainly relate to technologies at the hardware level of artificial intelligence, and in particular relate to bionic mechanical technologies.
  • the bionic mechanical technology is an edge technology that is based on mechanics or mechanics and integrates biology, medicine and engineering. It not only applies engineering technology to medicine and biology, but also applies medicine and biology to medicine and biology. engineering technology. It includes the mechanical study of biological phenomena, the engineering analysis of biological movements and actions, and the practical application of these results according to the requirements of society.
  • Biomimetic mechanical technology involves all aspects.
  • robotic engineering technology is a typical example of applying biological knowledge to the field of engineering. Its purpose is to help and replace humans in abnormal environments such as the universe, ocean, atomic energy production, and disaster sites.
  • Robots should not only have artificial limbs with mobile functions, but also artificial intelligence with sensory feedback functions. Artificial hands, walking machines, and sound recognition of three-dimensional objects are currently hot research topics.
  • the solutions provided in the embodiments of the present application mainly relate to the walking machine technology in the technical field of bionic machines, and are used to assist the movement control of the bionic machines.
  • the existing bionic mechanical foot designs often use force sensors and Inertial Measurement Unit (IMU) sensors to control the landing points of the bionic mechanical feet, this design is expensive and complicated in data circuit processing.
  • IMU Inertial Measurement Unit
  • the weight of the bionic mechanical leg increases, which is not conducive to the precise control of the footing point of the bionic mechanical foot.
  • FIG. 1 is a schematic structural diagram of a bionic mechanical foot device provided by an embodiment of the present application.
  • the foot device 10 includes a foot body 100 , a pressure sensor 104 and a distance sensor 105 .
  • the pressure sensor 104 is connected to the foot body 100, and the pressure sensor 104 is used to detect the pressure between the bottom end surface 100a of the foot body 100 and the ground.
  • the distance sensor 105 is located on the bottom end surface 100a and is connected to the foot body 100. The distance sensor 105 is used to detect the distance between the bottom end surface 100a and the ground.
  • the top of the foot body 100 is used to connect the leg device of the bionic machine, and the bottom end surface 100a of the foot body 100 is the end surface of the foot device 10 for contacting the ground when the bionic machine is walking.
  • the distance sensor can detect the distance between the bottom end face of the foot body and the ground, and the pressure sensor can detect the pressure between the bottom end face of the foot body and the ground.
  • the distance sensor transmits a distance detection signal indicating the distance between the bottom end face of the foot body and the ground to the control device of the bionic machine, and the pressure sensor transmits a pressure detection signal indicating the pressure between the sole part and the ground to the control device of the bionic machine.
  • the control device precisely controls the foothold of the bionic mechanical foot device according to the pressure detection signal and the distance detection signal.
  • the data circuit processing according to the control of the IMU is complicated.
  • the pressure sensor and the distance sensor are used to The combination of other parts of the bionic machine can realize the precise control of the foothold of the bionic machine, and the cost is lower, and because fewer sensors are used, the data circuit processing is further simplified.
  • the distance sensor installed on the foot of the robot dog when the robot dog is moving, the distance sensor installed on the foot of the robot dog will detect the distance between the foot of the robot dog and the ground in real time, and transmit the distance detection signal indicating this distance to the robot dog.
  • the controller when the foot of the robot dog is in contact with the ground, the pressure sensor installed on the foot of the robot dog will detect the pressure on the foot, and will also transmit a pressure detection signal indicating this pressure to the controller of the robot dog.
  • the controller will calculate the landing point of the mechanical dog's foot according to the received distance detection signal and pressure detection signal, as well as the rotation angle of each joint motor of the mechanical dog's leg, and then according to the calculated landing point to the mechanical dog's foot. control performed.
  • the partial area of the foot body 100 of the foot device 10 is set to a hollow structure or a hollow structure, which can effectively reduce the weight of the foot device and use less materials at the same time. , thereby further reducing the cost of the foot device.
  • the bionic machine is, for example, a robot, a mechanical dog, or a mechanical cat and other mechanical devices that imitate biological features.
  • the bionic mechanical foot device provided in the embodiments of the present application can be applied to scenarios such as security robot dogs, military robot dogs, and intelligent robots.
  • the bionic mechanical foot device is applied to the security robot dog.
  • the bionic mechanical foot device can be installed on the foot of the robot dog.
  • the foot device When the foot device is close to the ground or away from the ground, the foot device will measure the pressure measurement signal obtained.
  • a signal with the distance measurement is sent to the control device of the bionic machine.
  • the security robot dog includes legs for walking, then a foot device that contacts the ground is set at the lower end of the leg, and then during the inspection process of the security robot dog, the control device of the robot dog will measure according to the foot device. The obtained pressure measurement signal and distance measurement signal control the foot landing point.
  • the distance sensor 105 can be located at the center of the bottom end surface 100a, so that the distance between the bottom end surface 100a and the ground detected by the distance sensor 105 will be more accurate, and the distance between the sole of the bionic mechanical foot and the ground can be measured more accurately.
  • the distance sensor 105 and the pressure sensor 104 are both patch sensors, and can also be other distance sensors and pressure sensors suitable for the embodiments of the present application.
  • the bottom end surface 100a of the foot body 100 may be a convex surface.
  • the foot device When the bionic machine walks, when the foot device is in contact with the ground, the foot device usually rotates around the contact position between the bottom end surface 100a and the ground, and the bottom end surface 100a is set as a convex surface.
  • the contact position of the end surface 100a and the ground will gradually change, so that the foot device is easier to rotate around the contact position of the bottom end surface 100a and the ground, and when walking on uneven ground, it can also better contact the ground, making the bionic The machine can walk more smoothly.
  • the bottom end surface 100a of the foot body 100 is a spherical convex surface or an ellipsoidal convex surface.
  • the pressure sensor 104 is located on the bottom end face 100a of the foot body 100 .
  • the pressure sensor 104 is arranged on the bottom end face 100a of the foot body 100.
  • the pressure sensor 104 is squeezed, thereby detecting the pressure of the foot body 100. The pressure when the bottom end face 100a is in contact with the ground.
  • the pressure sensors 104 There are one or more pressure sensors 104 . When there are multiple pressure sensors 104 , the multiple pressure sensors 104 are distributed around the distance sensor 105 .
  • the pressure sensor 104 is arranged on the bottom end face 100a and is arranged around the distance sensor 105. Since the sole part 103 is a convex surface, a plurality of pressure sensors 104 can easily measure the pressure in different regions of the bottom end face 100a, thereby obtaining the difference between the bottom end face 100a and the bottom end face 100a.
  • the average pressure when the ground is in contact which is the pressure value of the foot device when it is in contact with the ground.
  • the foot body 100 is a split structure, including multiple parts that can be split.
  • the foot body 100 of the foot device includes a connecting part 101 , a supporting part 102 , and a sole part 103 .
  • One end of the support member 102 is connected to the sole member 103 , and the other end of the support member 102 is connected to the connection member 101 .
  • the connection part 101 is used for connecting with the leg of the bionic machine, and the sole part 103 is used for contacting with the ground.
  • the foot body 100 of the split structure, the connecting part 101 , the supporting part 102 , and the sole part 103 are separately fabricated and formed, and different parts can be fabricated by different processes.
  • the included angle formed by the end surface of the support member 102 close to the sole member 103 and the axis of the connecting member 101 is an acute angle, and the axis of the connecting member 101 extends along the length direction of the connecting member 101 .
  • the foot device is usually not perpendicular to the ground, but forms a certain angle with the ground, which can make the bionic machine stand more stably.
  • the connecting member 101 is designed as a hollow rod structure.
  • the connecting member 101 is designed with a receiving cavity P inside, and the receiving cavity P is arranged along the axial direction of the connecting member 101 , the signal line of the pressure sensor 104 and the signal line of the distance sensor 105 are located in the connecting part 101 , so that they can pass through the receiving cavity P of the connecting part 101 to connect with the control device of the bionic machine.
  • the signal wire of the distance sensor 105 enters the supporting member 102 through the signal wire hole N in the sole member 103, and then enters the receiving cavity P of the connecting member 101 together with the signal wire of the pressure sensor 104 through the signal wire hole in the supporting member 102 In this way, the signal wire can be prevented from being exposed outside the foot device, so that the signal wire is not easily damaged and the service life is prolonged.
  • the structure in which the connecting member 101 is designed as a hollow rod is also beneficial to reduce the overall weight of the bionic mechanical foot device, so as to be more suitable for a lightweight bionic machinery.
  • the connecting member 101 is made of a metal material, such as steel, aluminum, magnesium-aluminum alloy, etc. Of course, other possible materials, such as plastic, can also be used. Moreover, when the connecting part 101 is made of metal material, designing the connecting part 101 as a hollow rod structure can greatly reduce the weight of the bionic mechanical foot device, improve the precise control of the foot, and further enhance the flexibility of the bionic mechanical moving.
  • the support member 102 in the bionic mechanical foot device can also be designed as a hollow structure or hollow structures.
  • the shape of the hollow is any shape, which is set according to actual needs, for example, it is designed to be a hollow structure similar to a trapezoid as shown in FIG. 1 .
  • the cavity inside the hollow structure can also be of any shape, and can be set according to actual needs, such as a hollow structure with a spherical interior.
  • the support member 102 can be made of a metal material, such as steel, aluminum, magnesium-aluminum alloy, etc., of course, other possible materials, such as plastic, can also be used.
  • a metal material such as steel, aluminum, magnesium-aluminum alloy, etc.
  • other possible materials such as plastic, can also be used.
  • designing the support member as a hollow structure can greatly reduce the weight of the bionic mechanical foot device, improve the precise control of the foot, and further enhance the flexibility of the bionic mechanical movement.
  • the sole member 103 has a hemispherical structure or a semi-ellipsoidal structure to provide a spherical or ellipsoidal bottom end surface 100a.
  • the spherical or ellipsoid bottom end surface 100a can better contact the ground, so that the bionic machine can be kept stable.
  • the orthographic projection of the spherical center of the sole member 103 coincides with the center of the end face of the support member 102 close to the sole member 103, so that the foot device can be used in the bionic machine. More stable when standing.
  • the sole part 103 is made of rubber.
  • the rubber material can deform when subjected to a force, absorbing the impact when the foot device is in contact with the ground.
  • a layer of rubber is wrapped around the distance sensor 105, so that the distance sensor 105 does not directly contact the ground, so as to prevent the foot device from contacting the ground when the bionic machine moves.
  • the friction causes damage to the distance sensor 105 and prevents damage to the distance sensor 105 when the foot device is stepped into water.
  • one of the end face of one end of the support member 102 and the end face of one end of the sole member 103 has a first groove A, and the other has a first protrusion B, and the first protrusion B is located in the first groove A.
  • FIG. 3 is a schematic structural diagram of a support member provided by an embodiment of the present application. As shown in FIG. 3 , the end face of one end of the support member 102 has a first groove A.
  • a first groove A is provided at the end of the supporting member 102 connected to the sole member 103 , and the end of the sole member 103 connected with the supporting member 102 is correspondingly provided with a matching first groove A. the first protrusion B.
  • the first protrusion B is snapped into the first groove A to play a positioning role, so that the support part 102 and the sole part 103 can be better connected.
  • the pressure sensor 104 is located in the first groove A.
  • it can also be arranged in the first groove A.
  • the support member 102 and the sole member 103 are pressed against each other, so that the pressure sensor 104 is pressed, so that the pressure between the bottom end surface 100a and the ground can be indirectly detected.
  • arranging the pressure sensor 104 in the first groove A reduces the possibility of the pressure sensor 104 being submerged by the stagnant water when the foot device steps on the stagnant water.
  • the end of the sole member 103 connected to the support member 102 is provided with a first groove A
  • the end of the support member 102 connected to the sole member 103 is correspondingly provided with a first groove A matching with the first groove
  • the protruding portion B can also play the role of positioning, so that the support member 102 and the sole member 103 can be better connected.
  • the shape and size of the first groove A are set according to the pressure sensor 104 .
  • the pressure sensor 104 is in the shape of a rectangular parallelepiped, so in order to place the pressure sensor 104 , the first groove A is also set in a rectangular shape, and the first protrusion B is also set in a rectangular parallelepiped shape accordingly.
  • the sole part 103 and the support part 102 can be connected in various ways, including detachable connection or non-detachable connection, and the detachable connection way includes connection through detachable connecting parts such as screws or snaps Button connection, non-detachable connection includes glue connection or welding connection, etc.
  • the sole part 103 and the support part 102 can be connected by a detachable connector.
  • the end face of the sole member 103 close to the support member 102 has a plurality of first holes C
  • the end face of the support member 102 close to the sole member 103 has a plurality of second holes D
  • the first holes C and The second hole D corresponds.
  • the first hole C and the corresponding second hole D are connected by a first connecting piece.
  • the first connecting piece passes through the first hole C and is fixedly connected with the second hole D, so as to achieve the purpose of fixedly connecting the sole part 103 and the supporting part 102 .
  • the first hole C of the sole part 103 and the second hole D of the support part 102 are threaded holes or stepped holes, wherein the stepped hole is a small diameter through hole drilled with a central axis.
  • the large-diameter through hole has a stepped shape when viewed from the side, which can be used for some professional parts welding and fixing.
  • the first connecting member is a bolt, a screw, a stud or a pin or the like matching with the first hole C and the second hole D.
  • both the first hole C and the second hole D are threaded holes, and the first connecting member is a screw matching the threaded hole.
  • a plurality of second holes D are distributed around the first groove A.
  • the sole member 103 is provided with four first holes C evenly distributed around the first protrusion B, and correspondingly, the support member 102 is provided with four first grooves A surrounding the first Uniformly distributed second holes D.
  • a plurality of first connecting parts are distributed around the first protrusion B and the first groove A, so that the connection between the sole part 103 and the supporting part 102 is more stable.
  • the numbers of the first holes C and the second holes D and the number of the first connecting pieces are only examples, which are not limited in the embodiments of the present application.
  • the direction of the center line of the first hole C is perpendicular to the top surface of the first protrusion B.
  • the end of the support member 102 connected to the sole member 103 is correspondingly provided with a plurality of second holes D, and the second holes D are arranged around the first groove A, and the centerline direction of the second hole D is perpendicular to the first groove A. Bottom surface of slot A.
  • the pressure-sensitive components of the pressure sensor 104 are elastic materials, and these materials are affected by factors such as temperature, humidity, and even the creep of the material itself, and may cause slight deformation, resulting in the output not being 0 when there is no external force.
  • the foot body 100 further includes a spring washer, the spring washer is located between the opposite end faces of the support member 102 and the sole member 103, and is sleeved on the first outside the connector.
  • a spring washer is arranged between the support member 102 and the sole member 103, and by adjusting the first connecting piece, the size of the gap between the opposite end faces of the support member 102 and the sole member 103 is adjusted, thereby adjusting the deformation of the spring washer
  • the pressure sensor 104 can be zeroed.
  • the first connecting member is a bolt
  • the precession of the bolt and the mating nut can be adjusted to adjust the size of the gap between the opposite end faces of the support member 102 and the sole member 103, and the deformation degree of the spring washer follows the size of the gap A change occurs, thereby zeroing the pressure sensor 104 .
  • the pressure sensor 104 measures the pressure value, and the reason for this phenomenon may be that the sole part 103 and the supporting part 102 are connected too tightly, so that the pressure sensor 104 is squeezed to show There is a pressure value.
  • the deformation degree of the spring washer between the support member 102 and the sole member 103 can be reduced, so that the distance between the sole member 103 and the support member 102 The connection becomes a little looser.
  • the reason for this phenomenon may be that the connection between the sole part 103 and the supporting part 102 is too loose, so that the pressure sensor 104 is not squeezed , the pressure value cannot be displayed.
  • the deformation of the spring washer between the support member 102 and the sole member 103 can be increased, so that the sole member 103 and the support The connection of the components 102 becomes a little tighter, so that the pressure sensor 104 is squeezed to achieve the operation of zeroing the pressure sensor.
  • connection structure between the support part 102 and the connection part 101 is similar to the connection structure between the support part 102 and the sole part 103.
  • One of the end face of one end of the support member 102 away from the sole member 103 and the end face of one end of the connecting member 101 has a second groove E, and the other has a second protrusion F, and the second protrusion F is located in the second groove E .
  • a second groove E is provided at the end of the connecting member 101 connected with the supporting member 102
  • a second protrusion matching the second groove E is correspondingly provided at the end of the supporting member 102 connected with the connecting member 101 .
  • F the second protrusion F is snapped into the second groove E to play a positioning role, so that the supporting member 102 and the connecting member 101 can be better connected.
  • the pressure sensor 104 is located in the second groove E.
  • the pressure sensor 104 can also be arranged in the second groove E in addition to being directly arranged on the bottom end face 100a or arranged in the first groove A.
  • the support member 102 and the connecting member 101 are pressed against each other, so that the pressure sensor 104 is pressed, so that the pressure between the bottom end surface 100a and the ground can be indirectly detected.
  • arranging the pressure sensor 104 in the second groove E can also reduce the possibility of the pressure sensor 104 being submerged by stagnant water.
  • the end of the support member 102 connected to the connection member 101 is provided with a second groove E, and the end of the connection member 101 connected to the support member 102 is correspondingly provided with a second protrusion matching the second groove E F, can also play the role of positioning, so that the supporting member 102 and the connecting member 101 can be better connected.
  • the shape and size of the second groove E matches the size and shape of the second protrusion F. As shown in FIG. 1 , the second protrusion F is set to a rounded rectangular shape, and the corresponding second groove E is set to be a rounded rectangular groove.
  • connection member 101 and the support member 102 can be connected in various ways, including detachable connection or non-detachable connection, and the detachable connection method includes connection through a detachable connection member such as a screw or a buckle
  • Non-detachable connections include glued connections or welded connections.
  • the connecting part 101 and the supporting part 102 can be connected by a detachable connecting piece.
  • the end face of the support member 102 close to the connecting member 101 has a plurality of third holes G
  • the end face of the connecting member 101 close to the support member 102 has a plurality of fourth holes H
  • the third holes G correspond to the fourth holes H
  • the first The three holes G and the corresponding fourth holes H are connected by a second connecting piece.
  • two third holes G are provided, and two fourth holes H are also provided.
  • the second connecting member passes through the third hole G and is fixedly connected to the fourth hole H, so as to achieve the purpose of fixedly connecting the connecting member 101 and the supporting member 102 .
  • the third hole G and the fourth hole H are threaded holes or stepped holes, etc.
  • the second connecting member is a bolt, screw, stud or pin, etc. matching the third hole G and the fourth hole H.
  • the third hole G and the fourth hole H are both threaded holes
  • the second connecting member is a screw matching the threaded hole.
  • a plurality of fourth holes H are distributed around the second groove E.
  • two third holes G are arranged evenly distributed around the second protrusion F, and correspondingly, on the connecting member 101, two fourth holes H are arranged evenly distributed around the second groove E, connecting the
  • a plurality of second connecting pieces are distributed around the second protrusion F and the second groove E, so that the connection between the connecting component 101 and the supporting component 102 is more stable.
  • the numbers of the third holes G and the fourth holes H and the number of the second connecting pieces are only examples, which are not limited in the embodiments of the present application.
  • the direction of the center line of the third hole G is perpendicular to the top surface of the second protrusion F.
  • a plurality of fourth holes H are correspondingly provided at one end of the connecting member 101 connected to the supporting member 102 , and the fourth holes H are perpendicular to the bottom surface of the second groove E. As shown in FIG.
  • a spring washer can also be provided between the support member 102 and the connecting member 101, and the spring washer is sleeved on the second connection outside.
  • the pressure sensor 104 can be zero-adjusted by adjusting the second connecting member to adjust the size of the gap between the opposite end faces of the support member 102 and the connecting member 101 , thereby adjusting the deformation degree of the spring washer.
  • the precession of the bolt and the mating nut can be adjusted to adjust the size of the gap between the opposite end faces of the support member 102 and the connecting member 101, and the deformation degree of the spring washer follows the size of the gap. changes, thereby zeroing the pressure sensor 104 .
  • the spring washer may be annular.
  • the pressure sensor 104 is located in the first groove A, there is a spring washer outside each first connecting piece. By adjusting different first connecting pieces, the deformation amount of each spring washer can be adjusted separately.
  • a spring washer is sleeved outside each second connecting piece. By adjusting different second connecting pieces, the deformation amount of each spring washer can be adjusted separately. .
  • the foot body 100 is a one-piece structure, that is, the connecting part 101 , the supporting part 102 , and the sole part 103 are integrated.
  • the foot body 100 of the one-piece structure has high structural strength, and can be produced by a set of molds.
  • the pressure sensor 104 and the distance sensor 105 are both located on the bottom end surface 100 a of the foot body 100 .
  • the embodiment of the present application also provides a bionic machine.
  • the bionic machine 12 includes a leg device 11 and a control device. (located inside the bionic machine, not shown), and the foot device 10 described above, the foot device 10 is connected to the leg device 11 .
  • the bionic machine includes a plurality of leg devices 11 , and each leg device 11 is correspondingly connected to a foot device 10 .
  • the embodiment of the present application also provides a control method of the bionic machine, and the method includes:
  • the bionic machine can perform corresponding actions according to the pressure measured by the pressure sensor and the distance measured by the distance sensor. For example, when the robot dog is moving, the foot of the robot dog is in the process of approaching the ground. Since the foot is not in contact with the ground, the pressure sensor does not detect the pressure value at this time, that is, the pressure value is 0.
  • the feet of the mechanical dog are constantly approaching the ground, so that the distance sensor detects the distance between the sole of the foot and the ground in real time, then generates a distance detection signal indicating the distance, and transmits the distance detection signal to the control device of the mechanical dog. Then the control device will calculate the foothold position of the robot dog's foot according to the received distance detection signal and the rotation angle of each joint motor of the robot dog's leg, and control the foothold point of the robot dog according to the calculated result. .

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Abstract

一种仿生机械足部装置、仿生机械及其控制方法，涉及仿生机械技术领域。该足部装置包括足部本体（100）、压力传感器（104）和距离传感器（105）；压力传感器（104）与足部本体（100）相连，用于检测底部端面与地面间的压力；距离传感器（105）位于足部本体（100）的底部端面（100a），且与足部本体（100）相连，用于检测底部端面与地面之间的距离。其中，所述距离传感器（105）在所述仿生机械移动时，向所述仿生机械的控制装置传输指示所述足底部件（103）与地面之间距离的距离检测信号，所述压力传感器（104）向所述控制装置传输指示所述足底部件（103）与地面之间接触压力的压力检测信号。通过压力传感器（104）和距离传感器（105）与仿生机械的其他部位相结合，实现对仿生机械的落脚点的精准控制，使用的传感器少，成本低，且电路简单。

Description

一种仿生机械足部装置、仿生机械及其控制方法
本申请要求于2020年11月12日提交的申请号为202011262079.7、发明名称为“一种仿生机械足部装置及仿生机械”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及仿生机械技术领域，尤其涉及一种仿生机械足部装置、仿生机械及其控制方法。
背景技术
随着科学技术的发展，仿生机械，例如机械狗等应运而生，其在军事领域、物流配送领域、安保领域等都有着广泛的发展前景。
以机械狗为例，机械狗在使用的过程中，必须具备良好的平衡能力、灵活能力以及移动能力，可以长时间自主运行与移动，因此，需要对机械狗的足部落脚点进行精准的控制。
发明内容
本申请实施例提供一种仿生机械足部装置、仿生机械及其控制方法，用于降低设计成本以及处理复杂度。
一方面，提供一种仿生机械足部装置，包括足部本体、压力传感器和距离传感器；所述压力传感器与所述足部本体相连，用于检测所述足部本体的底部端面与地面间的压力；所述距离传感器位于所述底部端面，且与所述足部本体相连，用于检测所述底部端面与地面之间的距离。
一方面，提供一种仿生机械，所述仿生机械包括腿部装置和控制装置，以及上述的足部装置，所述足部装置与所述腿部装置相连。
一方面，提供一种仿生机械的控制方法，所述仿生机械为前一方面所述的仿生机械，所述方法包括：
检测底部端面与地面之间的距离，所述底部端面与地面间的压力；
当所述底部端面与地面间的压力为0时，基于所述底部端面与地面之间的 距离、仿生机械的腿部装置各关节电机的转动角度，确定仿生机械的足部装置的落脚点位置。
本申请实施例中，仿生机械的足部装置包括足部本体、压力传感器和距离传感器，在仿生机械移动时，距离传感器能够检测足部本体的底部端面与地面之间的距离，压力传感器能够检测足部本体的底部端面与地面间的压力。使得仿生机械的控制装置能够基于足部本体的底部端面与地面之间的距离以及足部本体的底部端面与地面间的压力对仿生机械足部装置落脚点进行精准控制。由于通过压力传感器和距离传感器与仿生机械的其他部位相结合，就能够实现对仿生机械的落脚点的精准控制，使用的传感器少，成本低，且电路简单。
附图说明
为了更清楚地说明本申请实施例或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1为本申请实施例提供的一种仿生机械的足部装置的结构示意图；
图2为本申请实施例提供的足部装置的剖面示意图；
图3为本申请实施例提供的一种支撑部件的结构示意图；
图4为本申请实施例提供的足部装置的右侧俯视示意图；
图5为本申请实施例提供的足部装置的右侧仰视示意图；
图6为本申请实施例提供的一种仿生机械的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚明白，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互任意组合。
首先，对本申请中的部分用语进行解释说明。
1)仿生机械，是通过研究和探讨生物机制，仿照生物的形态、结构或者功 能而设计改造的机械。可以认为仿生机械是既具有像生物的运动器官一样精密的条件，又具有优异的智能系统，可以进行巧妙的控制，执行复杂的动作。比较典型的一种仿生机械例如机械狗，机械狗拥有着与动物狗类似的外形特征，能够模拟动物狗实现一定的动作，辅助实现一定的功能。机械狗在军事领域、物流配送领域、安保领域等都有着广泛的发展前景，例如其能够在战场上发挥重要作用，为士兵运送弹药、食物和其他物品等。
2)压力传感器，是能感受压力信号，并能按照一定的规律将压力信号转换成可用的输出的信号的器件或装置。
3)距离传感器，又叫做位移传感器，是传感器的一种，用于感应其与某物体间的距离以完成预设的某种功能。
4)弹簧垫片，弹簧垫片可用于装置在螺母下面用来防止螺母松动，加大预紧力的功能，考虑到弹簧垫片其能够调整力度的特性，因而将弹簧垫片用于压力传感器的调零。它的材质有不锈钢的和碳钢的，当然根据需求，可以选择适当的材料。
本申请实施例提供的方案主要涉及人工智能的硬件层面的技术，尤其涉及仿生机械技术。而仿生机械技术是一门以力学或者机械学为基础的，综合生物学、医学及工程学的一门边缘技术，它既把工程技术应用于医学、生物学，由把医学、生物学应用于工程技术。它包含着对生物现象进行力学研究，对生物的运动、动作进行工程分析，并把这些成果根据社会的要求付之实用化。
仿生机械技术涉及方方面面，其中，机器人工程技术是把生物学的知识应用于工程领域的典型范例，其目的是为了在宇宙、海洋、原子能生产、灾害现场等异常环境中帮助和代替人类进行作业。机器人不仅要有移动功能的人造手足，而且还要有感觉反馈功能的人工智能，而人造手、步行机械、三维物体的声音识别等为目前研究的热点。
本申请实施例提供的方案主要涉及仿生机械技术领域的步行机械技术，用于辅助仿生机械的移动控制。由于现有的仿生机械足部设计常常采用力传感器配合惯性测量单元(Inertial Measurement Unit，IMU)传感器进行仿生机械足部落脚点的控制，但这种设计价格昂贵、数据电路处理复杂。且由于仿生机械足部尺寸、重量较大，导致仿生机械腿部的重量增加，不利于仿生机械足部落脚点的精准控制。
基于上述问题，本申请实施例提供一种仿生机械足部装置，图1为本申请 实施例提供的一种仿生机械的足部装置的结构示意图。如图1所示，该足部装置10包括足部本体100、压力传感器104和距离传感器105。压力传感器104与足部本体100相连，压力传感器104用于检测足部本体100的底部端面100a与地面间的压力。距离传感器105位于底部端面100a，且与足部本体100相连，距离传感器105用于检测底部端面100a与地面之间的距离。
足部本体100的顶部用于连接仿生机械的腿部装置，足部本体100的底部端面100a是仿生机械在行走时，足部装置10用于与地面进行接触的端面。
在仿生机械移动的过程中，距离传感器能够检测足部本体的底部端面与地面之间的距离，压力传感器能够检测足部本体的底部端面与地面间的压力。距离传感器向仿生机械的控制装置传输指示足部本体的底部端面与地面之间距离的距离检测信号，压力传感器向仿生机械的控制装置传输指示足底部件与地面之间压力的压力检测信号，便于控制装置根据压力检测信号以及距离检测信号对于仿生机械足部装置落脚点进行精准控制。此外，相较现有的IMU设计方案，由于IMU的成本昂贵，且由于IMU包含多个传感器，使得根据IMU进行控制的数据电路处理复杂，而本申请实施例中，通过压力传感器和距离传感器与仿生机械的其他部位相结合，则能够实现对仿生机械的落脚点的精准控制，成本更低，且由于使用的传感器少，所以进一步使得数据电路处理简单化。
以机械狗为例，当机械狗在移动时，机械狗足底上安装的距离传感器会实时检测机械狗足底距地面之间的距离，并将指示此距离的距离检测信号传输给机械狗的控制器中，且当机械狗足底与地面接触时，机械狗足部上安装的压力传感器会检测足部所受到的压力，也会将指示此压力的压力检测信号传输给机械狗的控制器中，控制器会根据接收到的距离检测信号与压力检测信号，以及机械狗腿部各个关节电机的转动角度计算出机械狗足部的落脚点，进而根据计算出的落脚点对机械狗足部进行的控制。
此外，如图1所示，本申请实施例中，将足部装置10的足部本体100部分区域设置为镂空结构或空心结构，能够有效的减轻足部装置的重量，同时使用的材料更少，从而更进一步的降低足部装置的成本。
在介绍完本申请实施例的设计思想之后，下面对本申请实施例的技术方案能够适用的应用场景做一些简单介绍，需要说明的是，以下介绍的应用场景仅用于说明本申请实施例而非限定。在具体实施过程中，能够根据实际需要灵活地应用本申请实施例提供的技术方案。
在具体应用时，仿生机械例如为机器人、机械狗或者机械猫等模仿生物特征的机械装置。作为示例，本申请实施例提供的仿生机械足部装置能够应用于安保机器狗、军用机械狗、智能机器人等场景中。
例如，仿生机械足部装置应用于安保机器狗中，可将仿生机械足部装置安装于机械狗的足部，在足部装置接近地面或者远离地面时，足部装置将测量得到的压力测量信号与距离测量信号发送给仿生机械的控制装置。例如，安保机器狗包括用于行走的腿部，那么在腿部的下端设置与地面进行接触的足部装置，进而在安保机器狗进行巡查过程中，机械狗的控制装置会根据足部装置测量得到的压力测量信号与距离测量信号对足部落脚点进行控制。
如图1所示，距离传感器105可以位于底部端面100a的中心，这样通过距离传感器105检测出的底部端面100a与地面的距离会更加精确，能够更准确低测量仿生机械足底与地面的距离。
示例性地，距离传感器105和压力传感器104均为贴片式传感器，也能够为其它适用于本申请实施例的距离传感器和压力传感器。
如图1所示，足部本体100的底部端面100a可以为凸面。仿生机械行走时，在足部装置与地面接触的过程中，足部装置通常会绕底部端面100a与地面的接触位置转动，将底部端面100a设置为凸面，在足部装置转动的过程中，底部端面100a与地面的接触位置会逐渐发生变化，使足部装置更容易绕底部端面100a与地面的接触位置转动，并且在凹凸不平的地面上行走时，也能更好地与地面接触，使仿生机械能够更加平稳地行走。
示例性地，足部本体100的底部端面100a为球形凸面或椭球形凸面。
可选地，压力传感器104位于足部本体100的底部端面100a。将压力传感器104布置在足部本体100的底部端面100a，在仿生机械行走的过程中，足部本体100的底部端面100a与地面接触时，压力传感器104受到挤压，从而检测出足部本体100的底部端面100a与地面接触时的压力。
压力传感器104有一个或多个。当压力传感器104有多个时，多个压力传感器104围绕距离传感器105分布。将压力传感器104设置于底部端面100a，并围绕距离传感器105设置，因足底部件103为凸面，多个压力传感器104能够方便对底部端面100a的不同区域的压力进行测量，从而得到底部端面100a与地面接触时的平均压力，该平均压力即为足部装置与地面接触时所受的压力值。
在一些示例中，足部本体100为分体式结构，包括可拆分的多个部分。如图1所示，该足部装置的足部本体100包括连接部件101、支撑部件102、足底部件103。支撑部件102的一端与足底部件103相连，支撑部件102的另一端与连接部件101相连。连接部件101用于与仿生机械的腿部连接，足底部件103用于与地面接触。
分体式结构的足部本体100，连接部件101、支撑部件102、足底部件103分别制作成型，对不同的部分能够采用不同的工艺进行制作。
如图1所示，支撑部件102靠近足底部件103的端面与连接部件101的轴线所成夹角为锐角，连接部件101的轴线沿连接部件101的长度方向延伸。仿生机械在站立时，足部装置通常并不是垂直于地面的，而是与地面呈一定的夹角，可以使仿生机械站立的更稳。
如图2所示，为本申请实施例提供的足部装置的剖面示意图。为了便于信号线的布置，以及为了信号线不易被损坏，连接部件101被设计为空心杆的结构，连接部件101内部设计有收容腔体P，收容腔体P沿连接部件101的轴心方向设置，压力传感器104的信号线与距离传感器105的信号线位于连接部件101内，从而能够穿过连接部件101的收容腔体P与仿生机械的控制装置进行连接。
距离传感器105的信号线通过足底部件103中的信号线孔N进入支撑部件102中，然后与压力传感器104的信号线一起通过支撑部件102中的信号线孔进入连接部件101的收容腔体P中，这样，便能够避免信号线裸露在足部装置的外部，使信号线不易被损坏，延长使用寿命。同时，连接部件101设计为空心杆的结构还有利于降低仿生机械足底装置的整体重量，以更适用于轻量型的仿生机械。
可选地，连接部件101为金属材质，例如，钢材、铝材、镁铝合金等，当然也能够采用其他可能的材质，例如塑料。并且，当连接部件101使用金属材质时，将连接部件101设计为空心杆结构能够大大减轻仿生机械足部装置的重量，提高对足部的精准控制，进一步加强仿生机械移动时的灵活性。
本申请实施例中，为了更进一步减轻仿生机械足部的重量，使得对轻量型仿生机械的足部能够灵活的进行控制，还能够将仿生机械足部装置中的支撑部件102设计成镂空结构或者空心结构。镂空的形状为任意形状，根据实际需求进行设置，例如设计为如图1所示的类似梯形的镂空结构。空心结构内部的空腔也能够为任意形状，根据实际需求进行设置，例如内部为球形的空心结构。
可选地，支撑部件102能够为金属材质，例如，钢材、铝材、镁铝合金等，当然也能够采用其他可能的材质，例如塑料。并且，当支撑部件102使用金属材质时，将支撑部件设计为镂空结构能够大大减轻仿生机械足部装置的重量，提高对足部的精准控制，进一步加强仿生机械移动时的灵活性。
如图2所示，足底部件103为半球形结构或者半椭球形结构，以提供球形或椭球形的底部端面100a。在仿生机械行走的过程中，如果地面不平整，球形或椭球形的底部端面100a能够更好地与地面形成接触，使仿生机械保持平稳。
可选地，在支撑部件102靠近足底部件103的端面上，足底部件103的球心的正投影与支撑部件102靠近足底部件103的端面的中心重合，可以使足部装置在仿生机械站立时更加平稳。
可选地，足底部件103为橡胶材质。橡胶材质在受到作用力后能够产生形变，吸收足部装置与地面接触时所产生的冲击。
为了保护位于底部端面100a的距离传感器105，在本申请实施例中，在距离传感器105外包裹一层橡胶，使距离传感器105不与地面直接接触，防止仿生机械在移动时，足部装置与地面摩擦给距离传感器105带来损伤，以及防止足部装置踩入水中时给距离传感器105带来的损害。
可选地，支撑部件102一端的端面和足底部件103一端的端面中的一个具有第一凹槽A，另一个具有第一突出部B，第一突出部B位于第一凹槽A中。例如，图3为本申请实施例提供的一种支撑部件的结构示意图。如图3所示，支撑部件102一端的端面具有第一凹槽A。
如图1和3所示，在支撑部件102中与足底部件103相连的一端设置第一凹槽A，足底部件103中与支撑部件102相连的一端对应设置有与第一凹槽A匹配的第一突出部B。支撑部件102与足底部件103在进行连接时，第一突出部B卡入到第一凹槽A中，起到定位的作用，使支撑部件102与足底部件103能更好地相连接。
可选地，压力传感器104位于第一凹槽A中。压力传感器104除了直接布置在底部端面100a这种方式外，也能够布置在第一凹槽A中。在底部端面100a与地面接触时，支撑部件102与足底部件103之间相互挤压，使压力传感器104受到挤压，从而能够间接地检测出底部端面100a与地面间的压力。相比于将压力传感器104布置在底部端面100a，将压力传感器104布置在第一凹槽A中，在足部装置踩踏到积水中时，降低了压力传感器104被积水浸没的可能性。
此外，当足部装置不慎进水时，由于第一凹槽A位于支撑部件102，支撑部件102位于足底部件103的上方，所以，在重力作用下水不会滞留于第一凹槽A中，进而降低水对压力传感器104带来的损害。
在其他示例中，在足底部件103中与支撑部件102相连的一端设置有第一凹槽A，支撑部件102中与足底部件103相连的一端对应设置有与第一凹槽匹配的第一突出部B，同样能够起到定位的作用，使支撑部件102与足底部件103能更好地相连接。
第一凹槽A的形状和大小根据压力传感器104进行设置。如图1所示，压力传感器104为长方体形状，那么为了放置压力传感器104，将第一凹槽A也设置为长方形形状，相应地第一突出部B也设置为长方体形状。
本申请实施例中，足底部件103与支撑部件102可通过多种方式进行连接，包括可拆卸式连接或者不可拆卸式连接，可拆卸式连接方式包括通过螺钉等可拆卸连接件进行连接或者卡扣式连接，不可拆卸式连接包括胶粘连接或者焊接连接等。
在一种可能的实施方式中，足底部件103与支撑部件102可通过可拆卸连接件进行连接。
如图4和图5所示，足底部件103靠近支撑部件102的端面具有多个第一孔C，支撑部件102靠近足底部件103的端面具有多个第二孔D，第一孔C与第二孔D对应。第一孔C和对应的第二孔D通过第一连接件相连。
第一连接件穿过第一孔C与第二孔D进行固定连接，以达到将足底部件103与支撑部件102固定连接的目的。
可选地，足底部件103的第一孔C以及支撑部件102的第二孔D为螺纹孔或者阶梯孔等，其中，阶梯孔就是在一个小直径的通孔的基础上圆心轴钻出一个大直径的通孔，从侧面看呈现阶梯的形状，可用于一些专业的零件焊接与固定。第一连接件为与第一孔C、第二孔D相匹配的螺栓、螺钉、螺柱或者销子等。示例性地，本申请实施例中，第一孔C和第二孔D均为螺纹孔，第一连接件为与螺纹孔相匹配的螺钉。
如图3所示，多个第二孔D围绕第一凹槽A分布。本申请实施例中，在足底部件103上，设置有4个围绕第一突出部B均匀分布的第一孔C，对应的，在支撑部件102上，设置有4个围绕第一凹槽A均匀分布的第二孔D。足底部件103与支撑部件102连接时，多个第一连接件围绕第一突出部B和第一凹槽 A分布，使足底部件103与支撑部件102连接更加稳定。本申请实施例中，对于第一孔C和第二孔D的数量以及第一连接件的数量均仅为举例，本申请实施例对此不做限制。
本申请实施例中，该第一孔C的中心线方向垂直于第一突出部B的顶面。支撑部件102与足底部件103相连接的一端对应设置有多个第二孔D，且该第二孔D围绕第一凹槽A进行设置，第二孔D的中心线方向垂直于第一凹槽A的底面。
压力传感器104的感压部件为弹性材料，这些材料受温度、湿度甚至材料自身蠕变等因素影响，可能产生微小变形，导致没有外力时输出不为0。压力传感器104安装好了之后，在足部装置没有触地的情况下，如果压力传感器104有压力值输出，那么就需要对压力传感器104进行调零操作。为了方便对压力传感器104进行调零，在本申请实施例中，足部本体100还包括弹簧垫片，弹簧垫片位于支撑部件102和足底部件103相对的端面之间，且套在第一连接件外。在支撑部件102与足底部件103之间设置弹簧垫片，通过调整第一连接件，对支撑部件102和足底部件103相对的端面之间的间隙大小进行调整，从而调整弹簧垫片的形变程度，就能够对压力传感器104进行调零。例如，第一连接件为螺栓，那么能够调整螺栓和配合螺母的旋进量，来调整支撑部件102和足底部件103相对的端面之间的间隙大小，弹簧垫片的形变程度跟随间隙的大小发生变化，从而对压力传感器104进行调零。
当足部装置未与地面接触时，压力传感器104就测量出了压力值，而导致此现象的原因可能就是足底部件103与支撑部件102连接的太紧密，使得压力传感器104受到挤压显示出有压力值，此时，为了减弱压力传感器104受到的挤压，则能够通过减小支撑部件102与足底部件103之间的弹簧垫片的形变程度，致使足底部件103与支撑部件102的连接变得疏松一点。相反的，当足部装置与地面接触时，压力传感器104没有测量出压力值，那么导致此现象的原因可能就是足底部件103与支撑部件102连接的太疏松，使得压力传感器104没有受到挤压，显示不出压力值，此时，为了增强压力传感器104受到的挤压，则能够通过加大支撑部件102与足底部件103之间的弹簧垫片的形变程度，致使足底部件103与支撑部件102的连接变得紧密一点，从而使得压力传感器104受到的挤压，以达到对压力传感器进行调零的操作。
可选地，支撑部件102和连接部件101之间的连接结构与支撑部件102和 足底部件103之间的连接结构相似。支撑部件102远离足底部件103的一端的端面和连接部件101一端的端面中的一个具有第二凹槽E，另一个具有第二突出部F，第二突出部F位于第二凹槽E中。
如图1所示，在连接部件101与支撑部件102相连的一端设置第二凹槽E，支撑部件102中与连接部件101相连的一端对应设置有与第二凹槽E匹配的第二突出部F。支撑部件102与连接部件101在进行连接时，第二突出部F卡入到第二凹槽E中，起到定位的作用，使支撑部件102与连接部件101能更好地相连接。
可选地，压力传感器104位于第二凹槽E中。压力传感器104除了直接布置在底部端面100a，或是布置在第一凹槽A内的方式外，也能够布置在第二凹槽E中。在底部端面100a与地面接触时，支撑部件102与连接部件101之间相互挤压，使压力传感器104受到挤压，从而能够间接地检测出底部端面100a与地面间的压力。相比于将压力传感器104布置在底部端面100a，将压力传感器104布置在第二凹槽E中，也能够降低压力传感器104被积水浸没的可能性。
此外，当足部装置不慎进水时，由于第二凹槽E位于连接部件101，连接部件101位于支撑部件102的上方，所以，在重力作用下水不会滞留于第二凹槽E中，进而降低水对压力传感器104带来的损害。
在其他示例中，在支撑部件102中与连接部件101相连的一端设置有第二凹槽E，连接部件101与支撑部件102相连的一端对应设置有与第二凹槽E匹配的第二突出部F，同样能够起到定位的作用，使支撑部件102与连接部件101能更好地相连接。
第二凹槽E的形状和大小与第二突出部F的大小和形状匹配。如图1所示，将第二突出部F设置为圆角矩形形状，对应的第二凹槽E设置为圆角矩形凹槽。
本申请实施例中，连接部件101与支撑部件102可通过多种方式进行连接，包括可拆卸式连接或者不可拆卸式连接，可拆卸式连接方式包括通过螺钉等可拆卸连接件进行连接或者卡扣式连接，不可拆卸式连接包括胶粘连接或者焊接连接等。
在一种可能的实施方式中，连接部件101与支撑部件102可通过可拆卸连接件进行连接。参见图5，支撑部件102靠近连接部件101的端面具有多个第三孔G，连接部件101靠近支撑部件102的端面具有多个第四孔H，第三孔G与第四孔H对应，第三孔G和相应的第四孔H通过第二连接件相连。作为示例， 本申请实施例中，第三孔G设置有两个，第四孔H也设置有两个。
第二连接件穿过第三孔G与第四孔H进行固定连接，以达到将连接部件101与支撑部件102固定连接的目的。
可选地，第三孔G与第四孔H为螺纹孔或者阶梯孔等，第二连接件为与第三孔G、第四孔H相匹配的螺栓、螺钉、螺柱或者销子等。示例性地，本申请实施例中，第三孔G和第四孔H均为螺纹孔，第二连接件为与螺纹孔相匹配的螺钉。
多个第四孔H围绕第二凹槽E分布。在支撑部件102上，设置2个围绕第二突出部F均匀分布的第三孔G，对应的，在连接部件101上，设置2个围绕第二凹槽E均匀分布的第四孔H，连接部件101与支撑部件102连接时，多个第二连接件围绕第二突出部F和第二凹槽E分布，使连接部件101与支撑部件102连接更加稳定。本申请实施例中，对于第三孔G和第四孔H的数量以及第二连接件的数量均仅为举例，本申请实施例对此不做限制。
本申请实施例中，该第三孔G的中心线方向垂直于第二突出部F的顶面。连接部件101与支撑部件102相连接的一端对应设置有多个第四孔H，且该第四孔H垂直于第二凹槽E的底面。
与压力传感器104位于第一凹槽A中类似，压力传感器104位于第二凹槽E中时，在支撑部件102与连接部件101之间也能够设置弹簧垫片，弹簧垫片套在第二连接件外。通过调整第二连接件，对支撑部件102和连接部件101相对的端面之间的间隙大小进行调整，从而调整弹簧垫片的形变程度，就能够对压力传感器104进行调零。例如，第二连接件为螺栓，那么能够调整螺栓和配合螺母的旋进量，来调整支撑部件102和连接部件101相对的端面之间的间隙大小，弹簧垫片的形变程度跟随间隙的大小发生变化，从而对压力传感器104进行调零。
弹簧垫片可以呈环状。压力传感器104位于第一凹槽A中时，每一个第一连接件外各套有一个弹簧垫片，通过调整不同的第一连接件，从而能够对每个弹簧垫片的形变量分别进行调整。压力传感器104位于第二凹槽E中时，每一个第二连接件外各套有一个弹簧垫片，通过调整不同的第二连接件，从而能够对每个弹簧垫片的形变量分别进行调整。
在一些示例中，足部本体100为一体式结构，即连接部件101、支撑部件102、足底部件103为一个整体。一体式结构的足部本体100结构强度大，通过 一套模具即可制作完成。对于一体式结构的足部本体100，压力传感器104和距离传感器105均位于足部本体100的底部端面100a。
基于同一发明构思，本申请实施例还提供了一种仿生机械，如图6所示，为本申请实施例提供的一种仿生机械的结构示意图，该仿生机械12包括腿部装置11和控制装置(位于仿生机械内部，未示出)，以及上述的足部装置10，足部装置10与腿部装置11相连。通常仿生机械包括多个腿部装置11，每个腿部装置11对应连接一个足部装置10。
基于同一发明构思，本申请实施例还提供了该仿生机械的控制方法，该方法包括：
检测底部端面100a与地面之间的距离，底部端面100a与地面间的压力。
当底部端面100a与地面间的压力为0时，基于底部端面100a与地面之间的距离、仿生机械的腿部装置11各关节电机的转动角度，确定仿生机械的足部装置10的落脚点位置。
该仿生机械能够根据压力传感器测得的压力大小以及距离传感器测得的距离大小执行相应的动作。例如，当机械狗在移动时，机械狗的足部处于向地面接近的过程中，由于足部没有与地面相接触，所以此时压力传感器没有检测到压力值，即压力值为0，而由于机械狗的足部在不断的向地面接近，使得距离传感器实时的检测到足底与地面之间的距离，然后生成指示距离的距离检测信号，并将距离检测信号传输至机械狗的控制装置，然后控制装置会根据接收到的距离检测信号，以及机器狗腿部各关节电机的转动角度计算出机器狗足部的落脚点位置，并根据计算得出的结果对及机器狗的落脚点进行控制。
尽管已描述了本申请的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本申请范围的所有变更和修改。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (17)

  1. 一种仿生机械的足部装置，所述足部装置包括足部本体(100)、压力传感器(104)和距离传感器(105)；
    所述压力传感器(104)与所述足部本体(100)相连，用于检测所述足部本体(100)的底部端面(100a)与地面间的压力；
    所述距离传感器(105)位于所述底部端面(100a)，且与所述足部本体(100)相连，用于检测所述底部端面(100a)与地面之间的距离。
  2. 根据权利要求1所述的足部装置，其中，所述压力传感器(104)位于所述底部端面(100a)。
  3. 根据权利要求2所述的足部装置，其中，所述底部端面(100a)为凸面，所述压力传感器(104)有多个，多个所述压力传感器(104)围绕所述距离传感器(105)分布。
  4. 根据权利要求1～3任一项所述的足部装置，其中，所述距离传感器(105)位于所述底部端面(100a)的中心。
  5. 根据权利要求1～4任一项所述的足部装置，其中，所述足部本体(100)包括连接部件(101)、支撑部件(102)和足底部件(103)，所述支撑部件(102)的一端与所述足底部件(103)相连，所述支撑部件(102)的另一端与所述连接部件(101)相连。
  6. 根据权利要求5所述的足部装置，其中，所述支撑部件(102)一端的端面和所述足底部件(103)一端的端面中的一个具有第一凹槽(A)，另一个具有第一突出部(B)，所述第一突出部(B)位于所述第一凹槽(A)中；
    所述支撑部件(102)另一端的端面和所述连接部件(101)一端的端面中的一个具有第二凹槽(E)，另一个具有第二突出部(F)，所述第二突出部(F)位于所述第二凹槽(E)中。
  7. 根据权利要求6所述的足部装置，其中，所述压力传感器(104)位于以下至少一处：
    所述第一凹槽(A)；
    所述第二凹槽(E)。
  8. 根据权利要求6或7所述的足部装置，其中，所述足底部件(103)靠近所述支撑部件(102)的端面具有多个第一孔(C)，所述支撑部件(102)靠近所述足底部件(103)的端面具有多个第二孔(D)，所述第一孔(C)与所述第二孔(D)对应，所述第一孔(C)和对应的所述第二孔(D)通过第一连接件相连；
    所述支撑部件(102)靠近所述连接部件(101)的端面具有多个第三孔(G)，所述连接部件(101)靠近所述支撑部件(102)的端面具有多个第四孔(H)，所述第三孔(G)与所述第四孔(H)对应，所述第三孔(G)和相应的所述第四孔(H)通过第二连接件相连。
  9. 根据权利要求8所述的足部装置，其中，所述多个第二孔(D)围绕所述第一凹槽(A)分布；所述多个第四孔(H)围绕所述第二凹槽(E)分布。
  10. 根据权利要求5～9任一项所述的足部装置，其中，所述足部本体(100)还包括弹簧垫片，所述弹簧垫片位于以下至少一处：
    所述支撑部件(102)和所述足底部件(103)相对的端面之间；
    所述支撑部件(102)和所述连接部件(101)相对的端面之间。
  11. 根据权利要求5～10任一项所述的足部装置，其中，所述连接部件(101)为空心杆，所述压力传感器(104)的信号线与所述距离传感器(105)的信号线位于所述连接部件(101)内。
  12. 根据权利要求5～11任一项所述的足部装置，其中，所述支撑部件(102)为镂空结构或者空心结构。
  13. 根据权利要求5～12任一项所述的足部装置，其中，所述足底部件(103)为半球形结构或者半椭球形结构。
  14. 根据权利要求13所述的足部装置，其中，在所述支撑部件(102)靠近所述足底部件(103)的端面上，所述足底部件(103)的球心的正投影与所述支撑部件(102)靠近所述足底部件(103)的端面的中心重合。
  15. 根据权利要求5～14任一项所述的足部装置，其中，所述支撑部件(102)靠近所述足底部件(103)的端面与所述连接部件(101)的轴线所成夹角为锐角。
  16. 一种仿生机械，所述仿生机械包括腿部装置和控制装置，所述仿生机械还包括多个如权利要求1～15任一所述的足部装置，所述足部装置(10)与所述腿部装置(11)相连。
  17. 一种仿生机械的控制方法，所述仿生机械为如权利要求16所述的仿生机械，所述方法包括：
    检测底部端面(100a)与地面之间的距离，所述底部端面(100a)与地面间的压力；
    当所述底部端面(100a)与地面间的压力为0时，基于所述底部端面(100a)与地面之间的距离、仿生机械的腿部装置(11)各关节电机的转动角度，确定仿生机械的足部装置(10)的落脚点位置。
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