Method for motion control of a robot and robot

Abstract

A motion control method of a robot and the robot, the robot comprising: a head assembly capable of moving in a first active area and a leg assembly capable of moving in a second active area. The first active area comprises a first non-interference area. The second active area comprises a second non-interference area. When the head assembly interferes with the leg assembly, the head assembly contacts the leg assembly; when the head assembly is located in the first non-interference area, the leg assembly does not interfere with the head assembly at any position in the second active area; when the leg assembly is located in the second non-interference area, the head assembly does not interfere with the leg assembly at any position in the first active area. The motion control method comprises: when the robot falls down, the head assembly is adjusted to the first non-interference area, and / or the leg assembly is adjusted to the second non-interference area, and the robot executes a preset rising instruction. The motion control method of the application has a small head-leg interference probability, and the robot can successfully rise when falling down.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a motion control method for robots and a robot. Background Technology

[0002] In daily life, robots can be used in a variety of scenarios, such as performances, education, and companionship, bringing people a lot of interactive fun.

[0003] When existing robots fall, the random positioning of their head and legs at the moment of impact can easily cause interference to the head and legs, which were initially unaffected. This results in a prolonged wait for the user to avoid the interference and successfully get up, degrading the user experience. In cases where the head and legs are already interfered with at the moment of fall, the robot may be unable to get up at all, or its head and legs may become more severely stuck during the attempt, preventing it from getting up and causing an error message. When the robot fails to get up successfully for an extended period, frequent assistance from staff is required, further impacting the user experience. Summary of the Invention

[0004] In view of this, the present invention proposes a motion control method and a robot, which aims to control the range of motion of the robot's head and leg components before it falls and gets up, reduce the probability of interference between the robot's head and leg components, enable the robot to get up quickly and smoothly when it falls, and improve the user experience.

[0005] The present invention proposes a motion control method for a robot, the robot comprising: a head assembly capable of moving in a first active area, the first active area including a first non-interference area; and a leg assembly capable of moving in a second active area, the second active area including a second non-interference area; when the head assembly interferes with the leg assembly, the head assembly and the leg assembly come into contact; when the head assembly is located in the first non-interference area, the leg assembly does not interfere with the head assembly at any position in the second active area; when the leg assembly is located in the second non-interference area, the head assembly does not interfere with the leg assembly at any position in the first active area; the motion control method includes: when the robot falls and gets up, the head assembly adjusts to the first non-interference area, and / or the leg assembly adjusts to the second non-interference area, and the robot executes a preset get-up command.

[0006] As can be seen from the above technical solutions, the robot motion control method proposed in this embodiment of the invention, in order to significantly increase the probability of the robot getting up smoothly during the process of falling down, is designed to not immediately execute the action of getting up when falling down, but to adjust one or both of the head component and the leg component to their corresponding non-interference area, so that the head component and the leg component do not interfere with each other, and the robot can execute the preset getting up command. In this way, the actions required to be performed by the head component and the leg component during the process of falling down and getting up can make sufficient preparations for the robot to get up, realize that falling down can get up, make the time spent falling down and getting up shorter, make the steps of falling down and getting up smoother, reduce the probability of the user assisting to get up, and improve the user experience.

[0007] The robot proposed in this invention includes: a head assembly capable of moving in a first active area, the first active area including a first non-interference area; and a leg assembly capable of moving in a second active area, the second active area including a second non-interference area. When the head assembly interferes with the leg assembly, the head assembly and the leg assembly come into contact. When the head assembly is located in the first non-interference area, the leg assembly does not interfere with the head assembly at any position in the second active area. When the leg assembly is located in the second non-interference area, the head assembly does not interfere with the leg assembly at any position in the first active area. The robot is capable of executing the motion control method of the robot described in the foregoing embodiments.

[0008] As can be seen from the above technical solutions, the robot proposed in this embodiment of the invention can move freely without interfering with the head component as long as the head component is adjusted to the first non-interference region; or, the head component can move freely without interfering with the leg component when the leg component is adjusted to the second non-interference region; thereby enabling the robot to have a structural basis for executing motion control methods, and enabling the robot to stand up smoothly. It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of the present invention. Attached Figure Description

[0009] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0010] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0011] Figure 1 This is a three-dimensional structural diagram of the robot proposed in some embodiments of the present invention; Figure 2 This is a front view of a robot proposed in some embodiments of the present invention, wherein the head assembly is in a returned-to-position state; Figure 3 This is a three-dimensional structural diagram of a robot according to some embodiments of the present invention, in which the head assembly is located in a first non-interference region and the leg assembly is active in a second active region. Figure 4 This is a three-dimensional structural diagram of a robot with its head assembly located in a third non-interference region and its leg assembly moving in a second active region, according to some embodiments of the present invention. Figure 5 This is a three-dimensional structural diagram of a robot with its leg assembly located in a second non-interference region and its head assembly moving in a first active region, according to some embodiments of the present invention. Figure 6 This is a three-dimensional structural diagram of a robot with its leg assembly located in the fourth non-interference region and its head assembly moving in the first active region, according to some embodiments of the present invention. Figure 7 This is a flowchart illustrating the motion control method of some embodiments of the present invention; Figure 8 This is a flowchart illustrating the motion control method of some embodiments of the present invention; Figure 9 This is a flowchart illustrating the motion control method of some embodiments of the present invention; Figure 10 This is a flowchart illustrating the motion control method of some embodiments of the present invention; Figure 11 This is a flowchart illustrating the motion control method of some embodiments of the present invention; Figure 12 This is a flowchart illustrating the motion control method of some embodiments of the present invention; Figure 13 This is a flowchart illustrating the motion control method of some embodiments of the present invention; Figure 14 This is a flowchart illustrating the motion control method of some embodiments of the present invention.

[0012] Explanation of reference numerals in the attached figures: 100. Robot; 10. Trunk; 11. Upper surface; 12. Lateral surface; 16. Anterior surface; 20. Leg components; 21. Thigh; 22. Calf; 23. Foot; 30. Head assembly; 31. Head body; 32. Eyes; 33. Ears. Detailed Implementation

[0013] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of protection of the present invention.

[0014] When existing robots fall over, their head and legs may come into contact or become stuck, causing interference between them. This prevents the head or legs from moving and makes it impossible for the robot to get up. This requires frequent assistance from staff, which affects the user experience.

[0015] In view of this, this application proposes a motion control method for a robot 100 and a robot 100, which aims to adjust the position of the head component 30 and / or the leg component 20 when the robot 100 falls to the ground, so that the head component 30 and the leg component 20 of the robot 100 no longer interfere or do not interfere with each other, thereby enabling the robot 100 to execute preset commands and get up smoothly after falling to the ground.

[0016] Where there is no conflict, the following embodiments and features can be combined with each other.

[0017] refer to Figures 1 to 6 An embodiment of the present invention provides a robot 100, which includes a head assembly 30 and a leg assembly 20.

[0018] The head assembly 30 is capable of moving within a first active area, which includes a first non-interference area. This first active area can be the maximum area within which the head assembly 30 can move. For example, if the head assembly 30 rotates along the yaw direction of the robot 100, the head assembly 30 can move a full circle along the yaw direction of the robot 100, or the head assembly 30 can continuously rotate more than one circle in the same direction along the yaw direction of the robot 100, or the head assembly 30 can rotate less than one circle along the yaw direction of the robot 100. All positions that the head assembly 30 can reach or remain at are within the aforementioned first active area.

[0019] The leg assembly 20 is capable of moving within a second active area, which includes a second non-interference area. This second active area can be the maximum area within which the leg assembly 20 can move. For example, if the leg assembly 20 rotates along the pitch direction of the robot 100, it can move a full revolution along the pitch direction of the robot 100, or it can rotate continuously in the same direction for more than one revolution, or it can rotate less than one revolution. All positions that the leg assembly 20 can reach or remain at are within the aforementioned second active area.

[0020] When the head assembly 30 interferes with the leg assembly 20, the head assembly 30 and the leg assembly 20 come into contact. After contact, the movements of the head assembly 30 and the leg assembly 20 may have a certain mutual influence.

[0021] Further, refer to Figure 3 and Figure 4 When the head assembly 30 is located in the first non-interference region, the leg assembly 20 will not interfere with the head assembly 30 at any position in the second active region. That is, at this time, no matter how the leg assembly 20 moves in the second active region, it will not come into contact with the head assembly 30 located in the first non-interference region, and the two will always be separated. For example, it can include the projection of the head assembly 30 in the first non-interference region onto the horizontal plane and the projection of the leg assembly 20 in the second active region onto the horizontal plane being separated from each other; it can also include two independent spaces in three-dimensional space where the head assembly 30 and the leg assembly 20 never overlap.

[0022] Similarly, refer to Figure 5 and Figure 6 When the leg assembly 20 is located in the second non-interference region, the head assembly 30 will not interfere with the leg assembly 20 at any position in the first active region. That is, no matter how the head assembly 30 moves in the first active region, it will not come into contact with the head assembly 30 in the second non-interference region, and the two will always be separated. For example, this can include the projection of the leg assembly 20 in the second non-interference region onto the horizontal plane and the projection of the head assembly 30 in the first active region onto the horizontal plane being separated from each other; it can also include two independent spaces in three-dimensional space where the head assembly 30 and the leg assembly 20 never overlap.

[0023] Furthermore, robot 100 is able to execute the motion control method of robot 100.

[0024] As can be seen from the above, the robot 100 proposed in this embodiment of the invention can move freely without interfering with the head component 30 as long as the head component 30 is adjusted to the first non-interference region; or, the head component 30 can move freely without interfering with the leg component 20 by adjusting the leg component 20 to the second non-interference region; thereby enabling the robot 100 to have a structural basis for executing motion control methods, and enabling the robot 100 to stand up smoothly.

[0025] In some embodiments, reference Figure 1 The head assembly 30 includes a head body 31, on which additional components and / or organs protruding from the outer surface are connected. The additional components are selected from at least one of glasses, a hat, and hair, and the organs are selected from at least one of ears 33, a nose, and eyes 32. When the leg assembly 20 is located in the second non-interference region, none of the parts of the head assembly 30 interfere with the leg assembly 20 in the first active region. In these embodiments, the head body 31 mainly refers to a head outline with certain head characteristics, such as a humanoid skull outline or an animal-shaped head outline. Regardless of how the head body 31 rotates, the protruding organs and additional components on it can move freely in the first active region without interfering with the leg assembly 20 located in the second non-interference region. It should be noted that, in this invention, the additional components additionally provided on the head body 31 need to be relatively fixed relative to the head body 31, or only movable within a small range.

[0026] In a further embodiment, the first non-interference region of the head assembly 30 is smaller than the first non-interference region of the head body 31 in these embodiments, and the first non-interference region is defined such that the protruding component does not contact the leg assembly 20 in the second active region when they are spatially closest. In a specific embodiment, refer to Figure 1 , Figure 2 The head assembly 30 has a returned state. In the returned state, the orientation of the face of the head assembly 30 is consistent with the orientation of the front surface 16 of the torso. This ensures that at least all parts of the head assembly 30 in the returned state do not interfere with the leg assembly 20 moving in the second active area, thus allowing the leg assembly 20 to freely adjust in the returned state. Further, the first non-interference area includes a third non-interference area, which is smaller than the first non-interference area and includes the returned state.

[0027] In some embodiments, the head assembly 30 is capable of rotating along the yaw direction of the robot 100 (e.g., the yaw direction is...). Figure 1 The direction formed by the up and down directions in the middle), such as Figure 1 As shown, the robot 100 also includes a torso. When the central axis plane of the head assembly 30 coincides with the central axis plane of the torso, the head assembly 30 is located in the third non-interference region. In a specific embodiment, the torso 10 has an upper surface 11 and a side surface 12. It should be noted that the upper surface 11 and the side surface 12 are located at different positions of the torso 10, as shown in the reference... Figure 1 In the normal ground-touching state of the robot 100's leg assembly 20, at least a portion of the upper surface 11 faces upwards towards the torso 10, and at least a portion of the side surfaces 12 face towards the left and right sides of the torso 10. The head assembly 30 is rotatably connected to the upper surface 11 of the torso 10 along the yaw direction of the robot 100. In these embodiments, the rotation angle of the head assembly can be less than one revolution, one revolution, or multiple revolutions continuously, and can be flexibly set according to the activity requirements of the robot 100.

[0028] In some embodiments, reference Figure 1 As shown, the leg assembly 20 includes a thigh 21 and a lower leg 22. The thigh 21 is rotatable along the pitch direction of the robot 100, and the lower leg 22 is rotatable and retractable relative to the thigh 21. That is, the leg assembly 20 may include multiple parts that move relative to each other. In a further embodiment, the leg assembly 20 may also include a foot 23, which is rotatably connected to the lower leg 22 and / or the thigh 21. For example, the foot 23 may be a wheel, with one wheel rotatably connected to the side of the lower leg 22 away from the thigh 21, and the other wheel rotatably connected to the thigh 21. In a specific embodiment, the pitch direction may be referenced... Figure 1 It is formed by rotating along the axis formed by the left and right directions.

[0029] Please refer to Figure 6 The leg assembly 20 is adjusted to the fourth non-interference region, which is smaller than the second non-interference region. In the fourth non-interference region, the lower leg 22 is brought together relative to the thigh 21, and the thigh 21 and lower leg 22 are close to the side surface 12, with the projection of the thigh 21 onto the side surface 12 not exceeding the side surface 12. Therefore, in these embodiments, the movement of the leg assembly 20 in the fourth non-interference region is restricted to a smaller area, ensuring that the head assembly 30, located in the first activity region, will not contact the leg assembly 20 regardless of its movement, thus preventing any interference between them. Simultaneously, when the lower leg 22 is brought together relative to the thigh 21, the leg assembly 20 can store power, facilitating preparation for standing up. In this configuration, even after falling, the robot 100 can perform a standing action by adjusting the head assembly 30 and leg assembly 20. For example, the leg assembly 20 can store power to push off the ground and stand up.

[0030] In some embodiments, reference Figure 1The leg assembly 20 is rotatably connected to the side surface 12, and the leg assembly 20 can rotate to a position above the upper surface 11. When the leg assembly 20 can rotate to a position above the upper surface 11, there is a greater chance of interference with the head assembly 30. For example, the leg assembly 20 is rotatably connected to the side surface 12 along the pitch direction of the robot 100.

[0031] In some embodiments, the head assembly 30 and the leg assembly 20 partially overlap in the first active area and the second active area. That is, at the overlapping area, the head assembly 30 and the leg assembly 20 are highly likely to interfere when they both move to that area. These overlapping areas are not within the scope of the first non-interference area, the second non-interference area, the third non-interference area, and the fourth non-interference area defined in this application.

[0032] In some embodiments, the projection of the head assembly 30 on the horizontal plane below the first active region and the projection of the leg assembly 20 on the same horizontal plane below the second active region partially overlap, which may cause some interference between the head assembly 30 and the leg assembly 20. In a specific embodiment, the projections of the head assembly 30 on the horizontal plane below the first non-interference region and the leg assembly 20 on the horizontal plane in the second active region are spaced apart; the projections of the leg assembly 20 on the horizontal plane below the second non-interference region and the head assembly 30 on the horizontal plane in the first active region are also spaced apart. This prevents interference between the head assembly 30 and the leg assembly 20 when they are adjusted to a specific region. Of course, the aforementioned specific embodiments are only some examples. In other embodiments, the first non-interference region and the second active region, the second non-interference region and the first active region, and the first non-interference region and the second non-interference region may also be spatially separated. In this case, the projections of the head assembly 30 and the leg assembly 20 on the horizontal plane may overlap to some extent, but the projections of the head assembly 30 and the leg assembly 20 on other planes in space do not overlap, thus preventing interference.

[0033] In some embodiments, such as Figure 1As shown, the leg components 20 include two sets, which are symmetrically arranged on two side surfaces 12 relative to the torso 10. In these embodiments, the symmetrical arrangement of the leg components 2020 relative to the torso 10 helps maintain the balance of the torso 10 during walking, preventing it from tipping over. In specific embodiments, the robot 100 includes only one pair of symmetrically arranged leg components 20, allowing the robot 100 to have a smaller torso 10, avoiding the need for a long and narrow body due to multiple pairs of leg components 20, which would complicate the control of the leg components 2020. In these embodiments, using only two sets of leg components 20 simplifies the control program of the robot 100 and makes the overall robot 100 structure compact.

[0034] In the embodiments of this application, the rotation of the head component 3030 and the rotation of the leg component 2020 can be implemented by referring to the solutions of the prior art, such as driving the rotating component to rotate through a rotation drive mechanism, etc., which will not be described in detail in this application.

[0035] The motion control method of robot 100 will be described below.

[0036] refer to Figures 7 to 14 As shown, this embodiment of the invention proposes a motion control method for a robot 100, with reference to... Figures 1 to 6 The robot 100 includes: a head assembly 30 capable of moving in a first active area, the first active area including a first non-interference area; and a leg assembly 20 capable of moving in a second active area, the second active area including a second non-interference area. When the head assembly 30 interferes with the leg assembly 20, the head assembly 30 and the leg assembly 20 come into contact. When the head assembly 30 is located in the first non-interference area, the leg assembly 20 does not interfere with the head assembly 30 at any position in the second active area. When the leg assembly 20 is located in the second non-interference area, the head assembly 30 does not interfere with the leg assembly 20 at any position in the first active area. The structural technical solutions and effects of the robot 100 can be found in the description of the robot 100 in the foregoing embodiments, and will not be repeated here.

[0037] like Figure 7 As shown, the motion control method includes steps S100, S200 and S300.

[0038] Step S100: Responding to the robot 100 falling down and getting up. Here, components such as tilt sensors and visual sensors can be set to detect whether the robot 100 has fallen down.

[0039] In step S200, the head assembly 30 is adjusted to the first non-interference region, and / or the leg assembly 20 is adjusted to the second non-interference region. An angular momentum sensor or other position sensor can be used to detect the position and angle of rotation. In these embodiments, the robot 100 is equipped with an internal control system, which includes a processor. When the processor receives a signal that the robot 100 has fallen and is getting up, it can control the corresponding drive mechanism to execute a rotation command, causing the head assembly 30 and / or the leg assembly 20 to perform corresponding rotational movements.

[0040] In step S300, the robot 100 executes a preset stand-up command. In these embodiments, according to the stand-up command, the robot 100 performs corresponding stand-up actions, which can adjust the posture of the leg component 20, such as the leg component 20 as a whole conforming to the side surface 12, the lower leg 22 coming together with the thigh 21, or the leg component 20 quickly extending and pushing off the ground after coming together. The stand-up command can be issued by the processor and executed by the corresponding actuator.

[0041] As can be seen from the above, the motion control method for the robot 100 proposed in this embodiment of the invention, in order to significantly improve the probability of the robot 100 getting up smoothly during the process of falling down, designs a method in which the robot does not immediately perform the action of getting up when it falls down, but adjusts one or both of the head component 30 and the leg component 20 to their corresponding non-interference area, so that the head component 30 and the leg component 20 do not interfere with each other, and the robot 100 can execute the preset getting up command. Therefore, during the process of the robot 100 falling down and getting up, the actions required to be performed by the head component 30 and the leg component 20 can fully prepare the robot 100 to get up, realize that the robot can get up after falling down, shorten the time of falling down and getting up, make the steps of falling down and getting up smoother, reduce the probability of the user assisting the robot 100 to get up, and improve the user experience.

[0042] In some embodiments, the robot 100 of this application can be trained to perform movements with the least amount of time and movement, thereby enabling the robot 100 to get up quickly and efficiently according to the motion control method of the embodiments of this application, reducing the possible waiting time for the user.

[0043] In some embodiments, when interference occurs between the head assembly 30 and the unilateral leg assembly 20 upon falling, the motion control method includes... Figure 8 , Figure 9 and Figure 10 Step S110 Figure 8 Step S210 Figure 8 , Figure 9 and Figure 10 Step S300.

[0044] In step S110, in response to the robot 100 falling and getting up, interference occurs between the head assembly 30 and the leg assembly 20 on one side. Here, visual sensors, distance sensors, etc., can be used to determine whether interference occurs between the head assembly 30 and the leg assembly 20.

[0045] In step S210, the head assembly 30 rotates to a first non-interference region along the interference direction away from both, and / or the leg assembly 20 rotates to a second non-interference region along the interference direction away from both. It should be noted that the interference direction refers to the direction of movement in which the head assembly 30 and leg assembly 20 have a greater amount of interference at the current contact position; for example, it could refer to the direction of movement in which the contact area between the two is larger, or the direction of movement in which the two overlap more significantly in space.

[0046] In some further embodiments, under certain conditions, the rotation of the head assembly 30 and the rotation of the leg assembly 20 in step S210 have a sequential execution order. If the head assembly 30 and the leg assembly 20 on one side interfere with each other, step S210 is split into steps S201, S211, and S212, or step S210 is split into steps S202, S213, and S214.

[0047] Among them, reference Figure 9 The motion control method also includes steps S201, S211, and S212.

[0048] Step S201: Calculate the minimum first angle of rotation required for the head assembly 30 to rotate from the first non-interference region, and calculate the minimum second angle of rotation required for the leg assembly 20 to rotate from the second non-interference region. In these embodiments, data detected by vision sensors, position sensors, distance sensors, etc., can still be used, and the minimum first angle and minimum second angle can be confirmed through the calculation module.

[0049] Step S211: When the first angle is smaller than the second angle, first adjust the head assembly 30 to the first non-interference region. The rotation control of the head assembly 30 can be referred to the description in the foregoing embodiment, and will not be repeated here. Here, the sizes of the minimum first angle and the minimum second angle can be compared and analyzed by setting a comparison module, an analysis module, and a corresponding calculation program.

[0050] Step S212: When the first angle is greater than the second angle, first adjust the leg assembly 20 to the second non-interference region. The rotation control of the leg assembly 20 can be referred to the description of the previous embodiment, and will not be repeated here.

[0051] Among them, reference Figure 10 The motion control method also includes steps S202, S213, and S214.

[0052] Step S202: Calculate the minimum first time required for the head assembly 30 to rotate from its position to the first non-interference region, and calculate the minimum second time required for the leg assembly 20 to rotate from its position to the second non-interference region. In these embodiments, data detected by visual sensors, position sensors, distance sensors, etc., can still be used, and the minimum first time and minimum second time can be confirmed through the calculation module.

[0053] Step S213: When the first time is less than the second time, first adjust the head assembly 30 to the first non-interference region, and then execute the preset standing command. The rotation control of the head assembly 30 can be referred to the description in the previous embodiment, and will not be repeated here. Here, the magnitudes of the minimum first time and the minimum second time can be compared and analyzed by setting a comparison module, an analysis module, and a corresponding calculation program.

[0054] Step S214: When the first time is greater than the second time, first adjust the leg assembly 20 to the second non-interference region, and then execute the preset standing command. The rotation control of the leg assembly 20 can be referred to the description of the foregoing embodiment, and will not be repeated here.

[0055] In step S300, robot 100 executes a preset stand-up command. The implementation of step S300 can be found in the description of the foregoing embodiments, and will not be repeated here.

[0056] In some embodiments, when the head assembly 30 and the two leg assemblies 20 interfere with each other simultaneously upon falling, the movements of the different leg assemblies 20 can be adjusted accordingly. (See reference) Figure 11 The motion control method includes steps S120, S215, S216, and S300. Step S200 is then broken down into steps S215 and S216.

[0057] In step S120, while the object is in a fallen position, the head assembly 30 touches the ground, and the head assembly 30 and both leg assemblies 20 interfere simultaneously, with the head assembly 30 becoming stuck between the two leg assemblies 20. Here, visual sensors, distance sensors, position sensors, etc., can be used to determine whether the head assembly 30 or the leg assembly 20 is interfering.

[0058] Step S215: Adjust one leg assembly 20 in the direction opposite to the interference direction to rotate to the second non-interference region. The rotation control of the leg assembly 20 can be referred to the description of the previous embodiment, and will not be repeated here. The leg assembly 20 on one side is easy to adjust and move away from the interference region with the head assembly 30. After the interference on one side of the head assembly 30 is eliminated, the head assembly 30 is easier to adjust subsequently.

[0059] After one leg assembly 20 rotates to the second non-interference region, the motion control method further includes the following step S215: rotating the other leg assembly 20 in the same direction as the interference direction to drive the head assembly 30 to rotate toward the first non-interference region. The rotation control of the leg assembly 20 can be referred to the description in the foregoing embodiments, and will not be repeated here. Thus, when the head assembly 30 does not have sufficient rotational restoring force, the leg assembly 20 has greater power, enabling it to drive the head assembly 30 to move and rotate at a certain angle. This allows the leg assembly 20 to assist the head assembly 30 in moving to the first non-interference region, thereby eliminating interference between the head assembly 30 and the leg assembly 20, allowing the leg assembly 20 to rotate freely and prepare for executing a preset standing command.

[0060] In step S300, robot 100 executes a preset stand-up command. The implementation of step S300 can be found in the description of the foregoing embodiments, and will not be repeated here.

[0061] In some embodiments, for the leg assembly 20 of the robot 100, which includes a thigh 21 and a lower leg 22, one end of the thigh 21 is rotatably connected to the side surface 12 of the robot 100, and the other end of the thigh 21 is rotatably connected to the lower leg 22. When the head assembly 30 is located in the first non-interference region, the thigh 21 drives the lower leg 22 to not interfere with the head assembly 30 in the second active region. The motion control method includes the following steps: step S100, responding to the robot 100 falling down and getting up; step S217, the lower leg 22 adjusts to a preset angle in a direction close to the thigh 21; step S218, the thigh 21 rotates in a direction opposite to the interference direction of the head assembly 30 to adjust to the second non-interference region. The rotation control of the leg assembly 20 can be referred to the description of the foregoing embodiments, which will not be repeated here. Therefore, in these embodiments, when the thigh 21 and the lower leg 22 are closer together, the overall rotation radius of the leg assembly 20 will be smaller, and it will be less likely to interfere with the head assembly 30. At the same time, the lower leg 22 is close to the thigh 21 so that the lower leg 22 can store force, making it easier to stand up. In step S300, the robot 100 executes the preset standing command. The implementation of step S300 can be referred to the description of the foregoing embodiments, and will not be repeated here.

[0062] In some embodiments, if the robot 100 is about to fall but has not yet fallen, the head assembly 30 and the leg assembly 20 can be adjusted to reduce the probability of interference between the head assembly 30 and the leg assembly 20 after the robot 100 touches the ground.

[0063] refer to Figure 12 The motion control method further includes the following steps: step S130, step S200 and step S300.

[0064] In step S130, before robot 100 completely falls to the ground, at least part of robot 100 is in an airborne state. Here, visual sensors, distance sensors, position sensors, etc., can be used to determine whether robot 100 is in an airborne state and whether it has a tendency to fall to the ground.

[0065] Step S200 involves controlling the head assembly 30 to adjust to the first non-interference region, and / or controlling the leg assembly 20 to adjust to the second non-interference region. The implementation of step S200 can be found in the description of the foregoing embodiments, and will not be repeated here.

[0066] In step S300, robot 100 executes a preset stand-up command. The implementation of step S300 can be found in the description of the foregoing embodiments, and will not be repeated here.

[0067] In some embodiments, the head component 30 also has a third non-interference region. The head assembly 30 is capable of rotating along the yaw direction of the robot 100. The robot 100 also includes a torso. When the central axis surface of the head assembly 30 coincides with the central axis surface of the torso, the head assembly 30 is in a third non-interference region. The third non-interference region is smaller than the first non-interference region. The third non-interference region includes a return state. In the return state, the orientation of the face of the head assembly 30 is consistent with the orientation of the front surface 16 of the torso. (Reference) Figure 13 The motion control method includes the following steps: step S100, step S220, and step S300.

[0068] Step S100: In response to the robot 100 falling to the ground, it gets up. Step S300: The robot 100 executes a preset get-up command. The implementation of step S100 can be referred to the description of the foregoing embodiments, and will not be repeated here.

[0069] In step S220, the head assembly 30 is adjusted to the third non-interference region. The rotation control of the head assembly 30 can be referred to the description in the foregoing embodiment, and will not be repeated here.

[0070] In step S300, robot 100 executes a preset stand-up command. The implementation of step S300 can be found in the description of the foregoing embodiments, and will not be repeated here.

[0071] This allows the robot 100, which has a third non-interference region in the head assembly 30, to move the head assembly 30 to a position where it is least likely to interfere with the leg assembly 20. This increases the area where the leg assembly 20 can move freely and does not interfere with the head assembly 30, making the probability of interference between the two extremely small. This allows the leg assembly 20 to prepare for standing up and execute standing commands more flexibly.

[0072] In some embodiments, the leg assembly 20 includes a thigh 21 and a lower leg 22. The thigh 21 is capable of rotating in the pitch direction of the robot 100, and the lower leg 22 is capable of rotating and retracting relative to the thigh 21. The motion control method further includes: when the robot 100 falls and gets up, controlling the lower leg 22 to rotate until it at least partially overlaps with the thigh 21, and the thigh 21 drives the lower leg 22 to rotate to a second non-interference region. In these embodiments, by aligning the lower leg 22 and thigh 21 into a retracted state, the radius of motion of the leg assembly 20 can be significantly reduced, making the movement of the leg assembly 20 more controllable. This increases the area where the leg assembly 20 can rotate without interfering with the head assembly 30, expands the range of the non-interference region for adjusting the leg assembly 20 and the head assembly 30, and improves the flexibility of adjusting the head assembly 30 and the leg assembly 20.

[0073] For an embodiment where the leg assembly 20 has a fourth interference region, refer to Figure 1 The robot 100 also includes a torso, which includes side surfaces 12, as shown in the reference. Figure 14 As shown, the motion control method includes the following steps: step S100, step S230, and step S300.

[0074] Step S100: In response to the robot 100 falling down, it gets up. The implementation of step S100 can be referred to the description of the foregoing embodiments, and will not be repeated here.

[0075] Step S230: The leg assembly 20 is adjusted to the fourth non-interference region. The fourth non-interference region is smaller than the second non-interference region. Within the fourth non-interference region, refer to... Figure 6 The lower leg 22 is brought together with the thigh 21, and the thigh 21 and lower leg 22 are close to the side surface 12, and the projection of the thigh 21 onto the side surface 12 does not extend beyond the side surface 12. The scheme for the fourth non-interference region can be referred to the description in the foregoing embodiments, and will not be repeated here.

[0076] In step S300, robot 100 executes a preset stand-up command. The implementation of step S300 can be found in the description of the foregoing embodiments, and will not be repeated here.

[0077] This allows the robot 100, with its leg assembly 20 having a fourth non-interference region, to move the leg assembly 20 to a position least likely to interfere with the head assembly 30. This increases the area where the head assembly 30 can move freely without interfering with the leg assembly 20, minimizing the probability of interference between them. This facilitates more flexible rotation of the head assembly 30 without being jammed by the leg assembly 20. The leg assembly 20 being located in the fourth non-interference region also facilitates preparation for standing up and execution of standing commands.

[0078] It should be noted that, where the solution is feasible, the order of the steps in the various embodiments of this application is not important, and the order of implementation of each step can be adjusted. Provided that the solutions are not contradictory, the steps of the foregoing embodiments can be combined with each other.

[0079] In this invention, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," "third," and "fourth" may explicitly or implicitly include one or more of the stated features.

[0080] In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically defined.

[0081] It should be understood that various parts of the embodiments of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0082] Those skilled in the art will understand that all or part of the steps required to implement the methods of the above embodiments can be accomplished by a program instructing related hardware. The program can be stored in the robot 100 of the foregoing embodiments. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0083] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A motion control method for a robot, characterized in that, The robot includes: The head assembly is movable in a first active region, which includes a first non-interference region. The leg assembly is movable in a second active area, which includes a second non-interference area; when the head assembly interferes with the leg assembly, the head assembly comes into contact with the leg assembly. When the head assembly is located in the first non-interference region, the leg assembly will not interfere with the head assembly at any position in the second active region; When the leg assembly is located in the second non-interference region, the head assembly will not interfere with the leg assembly at any position in the first active region; The motion control method includes: In response to the robot falling down and getting up; the head assembly adjusts to a first non-interference region, and / or the leg assembly adjusts to a second non-interference region, the robot executes a preset getting-up command.

2. The motion control method for a robot as described in claim 1, characterized in that, The motion control method includes: in response to the robot falling down and getting up, interference occurs between the head assembly and the leg assembly on one side; The head assembly rotates along the interference direction away from both to the first non-interference region, and / or the leg assembly rotates along the interference direction away from both to the second non-interference region; The robot executes a preset command to get up.

3. The motion control method for a robot as described in claim 2, characterized in that, The motion control method further includes: Calculate the minimum first angle required for the head assembly to rotate from the first non-interference region, and calculate the minimum second angle required for the leg assembly to rotate from the second non-interference region. If the first angle is less than the second angle, first adjust the head assembly to the first non-interference region, then execute the preset standing command; if the first angle is greater than the second angle, first adjust the leg assembly to the second non-interference region, then execute the preset standing command; or... Calculate the minimum first time required for the head assembly to rotate from the position of the head assembly to the first non-interference region, and calculate the minimum second time required for the leg assembly to rotate from the position of the leg assembly to the second non-interference region. If the first time is less than the second time, first adjust the head assembly to the first non-interference region, and then execute the preset standing command. If the first time is greater than the second time, first adjust the leg assembly to the second non-interference region, and then execute the preset standing command.

4. The motion control method for a robot as described in claim 1, characterized in that, In a fallen position, the head assembly touches the ground, and the head assembly and the two leg assemblies on both sides interfere with each other simultaneously, with the head assembly becoming stuck between the two leg assemblies. The motion control method includes the following steps: The robot rotates one of the leg components to the second non-interference region by adjusting it in the direction opposite to the interference direction, and then executes a preset stand-up command.

5. The motion control method for a robot as described in claim 4, characterized in that, After one of the leg components rotates to the second non-interference region, the motion control method further includes the following step: rotating the other leg component in the same direction as the interference direction to drive the head component to rotate toward the first non-interference region.

6. The motion control method for a robot as described in any one of claims 1 to 5, characterized in that, The leg assembly includes a thigh and a calf, one end of the thigh being rotatably connected to the side surface of the robot, and the other end of the thigh being rotatably connected to the calf; When the head assembly is located in the first non-interference region, the thigh driving the lower leg does not interfere with the head assembly in the second active region; the motion control method includes the following steps: When the robot falls and gets up, its lower leg adjusts to a preset angle in a direction close to its thigh, and its thigh rotates in a direction opposite to the interference direction of the head assembly to adjust to the second non-interference area.

7. The motion control method for a robot as described in any one of claims 1 to 5, characterized in that, The head assembly includes a head body, on which additional components and / or organs protruding from the outer surface of the head body are connected. The additional components are selected from at least one of glasses, a hat, and hair, and the organs are selected from at least one of ears, nose, and eyes. When the leg assembly is located in the second non-interference region, none of the parts of the head assembly interfere with the leg assembly in the first active region.

8. The motion control method for a robot as described in any one of claims 1 to 5, characterized in that, The motion control method further includes: before the robot completely falls to the ground, at least part of the robot is in an airborne state, controlling the head assembly to adjust to a first non-interference region, and / or controlling the leg assembly to adjust to a second non-interference region.

9. The motion control method for a robot as described in any one of claims 1 to 5, characterized in that, The head assembly is capable of rotating along the yaw direction of the robot. The robot also includes a torso. When the central axis of the head assembly coincides with the central axis of the torso, the head assembly is in a third non-interference region. The third non-interference region is smaller than the first non-interference region. The third non-interference region includes a return state. In the return state, the orientation of the face of the head assembly is consistent with the orientation of the front surface of the torso. The motion control method includes the following steps: in response to the robot falling and getting up, the head assembly is adjusted to the third non-interference region.

10. The motion control method for a robot as described in any one of claims 1 to 5, characterized in that, The leg assembly includes a thigh and a lower leg, the thigh being able to rotate in the pitch direction of the robot, and the lower leg being able to rotate and retract relative to the thigh; The motion control method further includes: when the robot falls and gets up, controlling the lower leg to rotate to at least partially overlap with the thigh, and the thigh driving the lower leg to rotate to the second non-interference region.

11. The motion control method for a robot as described in claim 10, characterized in that, The robot also includes a torso, which includes a side surface. The motion control method includes: in response to the robot falling and getting up, the leg assembly is adjusted to a fourth non-interference region, which is smaller than the second non-interference region. In the fourth non-interference region, the lower leg is brought together relative to the thigh, the thigh and the lower leg are close to the side surface, and the projection of the thigh onto the side surface does not exceed the side surface.

12. A robot, characterized in that, include: The head assembly is movable in a first active region, which includes a first non-interference region. The leg assembly is movable in a second active area, which includes a second non-interference area; when the head assembly interferes with the leg assembly, the head assembly comes into contact with the leg assembly. When the head assembly is located in the first non-interference region, the leg assembly will not interfere with the head assembly at any position in the second active region; When the leg assembly is located in the second non-interference region, the head assembly will not interfere with the leg assembly at any position in the first active region; The robot is capable of performing the motion control method for the robot as described in any one of claims 1 to 11.

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