Motion state control method and device, wheel-legged robot and storage medium

Abstract

The application discloses a motion state control method and device, a wheel-leg robot and a storage medium, and relates to the field of robot control. The method comprises the following steps: acquiring obstacle information, the obstacle blocks the first wheel; determining reference roll angle information based on the obstacle information; in response to the wheel-leg robot moving to a position corresponding to a target distance from the obstacle, adjusting the position of the first wheel; and driving the wheel-leg robot to move to the position of the obstacle through the second wheel. When there is an obstacle on the motion trajectory of the wheel-leg robot, the reference roll angle is determined through the obstacle information, so that the position of the first wheel is adjusted in advance at a distance of the target distance according to the reference roll angle, so as to adapt to the height of the obstacle and cross the obstacle, thereby improving the flexibility of controlling the wheel-leg robot to pass through the obstacle, and avoiding the problem that the wheel-leg robot can only pass through the obstacle in a detour manner when encountering the obstacle, thereby improving the motion efficiency.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of robot control, and in particular, to a motion state control method and device, a wheel-legged robot, and a storage medium. BACKGROUND

[0002] A wheeled robot is a robot structure for controlling the motion of a robot body through a wheel structure. Since the contact points between the wheeled robot and the ground only include the contact points between the wheels and the ground, there is a problem of balance control in the case of instability in the arrangement of the wheel structure. A legged robot is a robot structure for controlling the motion of a robot body through a leg structure. The legged robot has strong terrain adaptability.

[0003] A wheel-legged robot is a robot structure for controlling the motion of a robot body through a wheel-leg structure. The wheel-legged robot combines the advantages of the wheeled robot and the legged robot, has the high efficiency of the wheeled robot, and inherits the strong terrain adaptability of the legged robot, and can overcome uneven terrain and obstacles.

[0004] In related technologies, since the balance of the wheel-legged robot needs to be considered while controlling the motion of the wheel-legged robot, the wheel-legged robot is usually applied to a short-distance straight motion scene. However, it is difficult to implement for some complex routes, such as an S-curve, a circle, and an obstacle crossing route, and the application scene of the wheel-legged robot is relatively limited. SUMMARY

[0005] Embodiments of the present application provide a motion state control method and device, a wheel-legged robot, and a storage medium, which can improve the control stability and scene universality of the wheel-legged robot. The technical solution is as follows:

[0006] In one aspect, a motion state control method is provided, which is applied to a wheel-legged robot. The method includes the following steps.

[0007] Obtaining obstacle information, the obstacle information being information of an obstacle located on a motion trajectory of the wheel-legged robot, the obstacle blocking a first wheel of the wheel-legged robot;

[0008] Determining reference roll angle information based on the obstacle information, the reference roll angle information being used to indicate a lateral inclination angle of the wheel-legged robot in a preparation stage of crossing the obstacle;

[0009] In response to the wheel-legged robot moving to a position corresponding to a target distance from the obstacle, adjusting the first wheel based on the obstacle information;

[0010] tilt the wheel-legged robot based on the reference roll angle information;

[0011] drive the wheel-legged robot to the position where the obstacle is located by the second wheel in a state that the first wheel is lifted and the second wheel touches the ground within the target distance range.

[0012] In another aspect, a control device of a motion state is provided, which is applied to a wheel-legged robot, and the device comprises:

[0013] an acquisition module configured to acquire obstacle information, the obstacle information being information of an obstacle located on a motion track of the wheel-legged robot, the obstacle blocking a first wheel of the wheel-legged robot;

[0014] a determination module configured to determine reference roll angle information based on the obstacle information, the reference roll angle information being used to indicate a lateral tilt angle of the wheel-legged robot in a preparation phase of crossing the obstacle;

[0015] a control module configured to, in response to the wheel-legged robot moving to a position corresponding to a target distance of the obstacle, lift the first wheel based on the obstacle information, and tilt the wheel-legged robot based on the reference roll angle information.

[0016] The control module is further configured to drive the wheel-legged robot to the position where the obstacle is located by the second wheel within the target distance range.

[0017] In another aspect, a wheel-legged robot is provided, which comprises a processor and a memory, and the memory stores at least one program, the at least one program is loaded and executed by the processor to implement the control method of the motion state of any one of the above embodiments of the present application.

[0018] In another aspect, a computer readable storage medium is provided, and the storage medium stores at least one instruction, at least one program, a code set or an instruction set, the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by a processor to implement the control method of the motion state of any one of the above embodiments of the present application.

[0019] In another aspect, a computer program product or computer program is provided, which comprises computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to make the computer device execute the control method of the motion state of any one of the above embodiments.

[0020] The technical scheme provided by the embodiments of the present application has at least the following beneficial effects:

[0021] When there is an obstacle on the motion trajectory of the wheel-legged robot, the reference roll angle is determined through the obstacle information, so that the position of the first wheel is adjusted in advance at a distance of the target distance according to the reference roll angle, to adapt to the height of the obstacle to cross the obstacle, thereby improving the flexibility of controlling the wheel-legged robot to pass through the obstacle, avoiding the problem that the wheel-legged robot can only pass through by detouring when encountering an obstacle, resulting in low motion efficiency, or when the surrounding terrain cannot be detoured, the obstacle can also be crossed. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0023] Figure 1 is a structural schematic diagram of a wheel-legged robot provided by an exemplary embodiment of the present application;

[0024] Figure 2 is a performance schematic diagram of a wheel-legged robot at different heights provided by an exemplary embodiment of the present application;

[0025] Figure 3 is a schematic diagram of two groups of leg structures at different heights provided by an exemplary embodiment of the present application;

[0026] Figure 4 is a schematic diagram of joint angle information simulated and derived by a wheel-legged robot cross section provided by an exemplary embodiment of the present application;

[0027] Figure 5 is a schematic diagram of three spatial angles provided by an exemplary embodiment of the present application;

[0028] Figure 6 is a pitch direction balance control schematic diagram provided by an exemplary embodiment of the present application;

[0029] Figure 7 is a roll direction balance control schematic diagram provided by an exemplary embodiment of the present application;

[0030] Figure 8 is a yaw direction balance control schematic diagram provided by an exemplary embodiment of the present application;

[0031] Figure 9is a flow chart of a control method of a motion state provided by an example embodiment of the present application;

[0032] Figure 10 is a flow chart of a control method of a motion state provided by another example embodiment of the present application;

[0033] Figure 11 is based on Figure 10 is a schematic diagram of a derivation process of a wheel-leg change amount provided by the embodiment shown;

[0034] Figure 12 is a schematic diagram of a wheel-legged robot lifting a leg to cross an obstacle provided by an example embodiment of the present application;

[0035] Figure 13 is a flow chart of a control method of a motion state provided by another example embodiment of the present application;

[0036] Figure 14 is a whole flow chart of a wheel-legged robot crossing an obstacle provided by an example embodiment of the present application;

[0037] Figure 15 is based on Figure 14 is a schematic diagram of a scenario of a wheel-legged robot crossing an obstacle provided by the embodiment shown;

[0038] Figure 16 is a structural block diagram of a control device of a motion state provided by an example embodiment of the present application;

[0039] Figure 17 is a structural block diagram of a terminal provided by an example embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0041] First, the terms involved in the embodiments of the present application are explained:

[0042] Wheel-legged robot: A wheel-legged robot is a robot structure that controls the motion of a robot body through a wheel-leg structure, which combines the advantages of a wheeled robot and a legged robot, has the high efficiency of a wheeled robot, and inherits the strong terrain adaptability of a legged robot, and can overcome uneven terrain and obstacles. Since the contact points of a wheel-legged robot with the ground only include the contact points of wheels with the ground, there is a problem of balance control in the case of instability of the arrangement of the wheeled structure.

[0043] In the embodiment of the present application, a wheel-legged robot is taken as an example to be described, i.e., the wheel-legged robot includes two wheels for movement, the two wheels are connected with leg structures respectively, and the leg structures are connected with the robot body, so that the robot body is driven by the two wheels to complete movement control. It should be understood that the wheel-legged robot in the present application is not limited to the above structure. Any robot containing a wheel structure should be understood as a wheel-legged robot.

[0044] Schematically, Figure 1 is a structural schematic diagram of a wheel-legged robot provided by an exemplary embodiment of the present application, as Figure 1 shown, the wheel-legged robot 100 includes a body part 110 and a wheel-leg part 120;

[0045] The body part 110 is connected with the wheel-leg part 120, the wheel-leg part 120 includes two wheels 121, and a leg structure 122 for connecting the wheels 121 and the body part 110, as Figure 1 shown, the wheel-legged robot 100 includes four leg structures 122, two of the four leg structures 122 are connected with one wheel 121 respectively, schematically, there are leg structure A, leg structure B, leg structure C and leg structure D, then the leg structure A and the leg structure B are connected with the first wheel, and the leg structure C and the leg structure D are connected with the second wheel. The leg structure A, the leg structure B and the first wheel, and the leg structure C, the leg structure D and the second wheel constitute a two-leg parallel structure of the wheel-legged robot. The parallel type leg has five rotating joints, and has two translational degrees of freedom in the horizontal and vertical directions respectively. Compared with the serial mechanism, the parallel mechanism has the characteristics of compact structure, high stiffness and strong carrying capacity. Therefore, the robot can jump higher and flexibly overcome obstacles.

[0046] Optionally, the leg structure 122 includes a shank segment 1221 and a thigh segment 1222, the shank segment 1221 and the thigh segment 1222 are connected through a rotating joint, and the shank segment 1221 and the wheel 121 are also connected through a rotating joint.

[0047] The body part 110 is provided with four groups of motors corresponding to the four leg structures 122 respectively, the four groups of motors are used to control the bending and straightening of the leg structures 122, in some embodiments, a segment of the leg structure 122 connected with the body part 110 is connected through a rotating joint, schematically, as Figure 1As shown, when the motor drives the rotating joint to rotate clockwise, it is to control the leg structure 122 to change towards bending; and when the motor drives the rotating joint to rotate counterclockwise, it is to control the leg structure 122 to change towards straightening. (Wherein, the driving modes of the two groups of leg structures 122 through the rotating joints are the same or different). That is, the clockwise and counterclockwise rotation modes are the same or different in relation to the bending and straightening control modes.

[0048] As shown, the bending and straightening of the leg structure 122 (i.e. the relative position relationship between the lower leg section 1221 and the upper leg section 1222) is used to control the height of the wheel-legged robot 100, that is, when the leg structure 122 changes towards bending, the height of the wheel-legged robot 100 is lowered, and when the leg structure 122 changes towards straightening, the height of the wheel-legged robot 100 is raised. For illustration, please refer to Figure 2 , Figure 1 As shown, the leg structure 122 is in a case of large bending degree, in which case the height of the wheel-legged robot 100 is low, and in Figure 2 , the bending degree of the leg structure 122 is smaller than Figure 1 the bending degree of the leg structure 122, in which case the height of the wheel-legged robot 100 is high. In some embodiments, the control inputs of the four motors are independent, for illustration, the first motor and the second motor are connected to the leg structure corresponding to the first wheel, the third motor and the fourth motor are connected to the leg structure corresponding to the second wheel, then according to the control of the first motor and the second motor, the leg structure 122 corresponding to the first wheel is of a first length, and according to the control of the third motor and the fourth motor, the leg structure 122 corresponding to the second wheel is of a second length. For illustration, Figure 3 is a schematic diagram of two groups of leg structures at different heights provided by an example embodiment of the present application, as shown in Figure 3 , the first wheel 1211 is lifted, and the second wheel 1212 falls on the ground.

[0049] The wheel 121 is a driving wheel, that is, the wheel 121 is also connected with a motor, and the wheel 121 can realize active rotation through the driving of the motor, so as to realize the control of the motion state of the wheel-legged robot 100, such as: controlling the wheel-legged robot to move forward, controlling the wheel-legged robot to move backward, controlling the wheel-legged robot to turn, or controlling the wheel-legged robot to be stationary.

[0050] In some embodiments, the control of the two wheels 121 is independent, that is, the torques applied to the two wheels 121 can be the same or different.

[0051] Based on the structure of the main body part 110 and the wheel-legged part 120 in the wheel-legged robot 100, the wheel-legged robot 100 can be approximated as an inverted pendulum structure of a trolley.

[0052] In the embodiment of the application, the motor for controlling the leg structure outputs a control signal based on the input joint angle information to control the bending angle of the leg structure. Optionally, the joint angle information is determined based on the position coordinates of the wheels connected to the leg structure.

[0053] For illustration purposes, refer to Figure 4 which shows a schematic diagram of deriving joint angle information based on a cross-section simulation of the wheel-legged robot, as Figure 4 As shown in the figure, an XZ coordinate system is constructed corresponding to the cross-section of the wheel-legged robot, where the origin is located at the midpoint of point x1 and point x5. Taking the distance between x1 and x5 as l0 for example, the x1 coordinate is (0.5l0, 0) and the x5 coordinate is (-0.5l0, 0). Given the coordinates of the wheel 400 (x3, z3), the goal is to calculate the joint angle information, including joint angle 410, joint angle 420, joint angle 430, and joint angle 440.

[0054] Since the coordinates of the wheel 400 are known and the coordinates of x1 and x5 are known, the lengths of line segment l5 and line segment l6 can be calculated. For illustration purposes, the calculation formulas are shown in Formula One and Formula Two:

[0055] Formula One:

[0056] Formula Two:

[0057] Since the lengths of the wheel legs l1 and l2 are known, the joint angle 410 can be obtained according to the cosine law, denoted as θ 11 The calculation formula is shown in Formula Three:

[0058] Formula Three:

[0059] Similarly, the joint angle 420, joint angle 430, and joint angle 440 can be obtained.

[0060] Based on the calculated joint angles, the motor is inputted, and the leg structure can be controlled to rotate to the corresponding joint angle by the motor, so as to control the wheel to reach the specified position (x3, z3).

[0061] In the balance feedback control of the wheel-legged robot, the three spatial angles in the embodiment of the application are mainly used for balance: pitch angle, yaw angle, and roll angle.

[0062] For illustration purposes, Figure 5 is a schematic diagram of the three spatial angles provided by an exemplary embodiment of the application, as Figure 5As shown, a right-hand Cartesian coordinate system 510 of three-dimensional control is established for the wheel-legged robot 500, wherein the x-axis is a coordinate axis along the advancing direction of the wheel-legged robot 500, corresponding to the roll angle, the y-axis is a coordinate axis along the connecting direction of the wheels of the wheel-legged robot 500, corresponding to the pitch angle, and the z-axis is a coordinate axis in the vertical upward direction, corresponding to the yaw angle.

[0063] The balance control for the three spatial angle directions is described respectively as follows:

[0064] Balance control in the pitch direction:

[0065] The angle in the pitch direction represents the swing amplitude of the wheel-legged robot in the advancing direction, and the control in the pitch direction is composed of a multi-closed-loop proportional-integral-derivative (PID) controller. The wheel-legged robot is projected onto a two-dimensional plane to form a two-dimensional plane simplified model, X represents the distance of the wheel center moving horizontally in the two-dimensional plane simplified model, and under the ideal state, X is equal to the product of the angle of the wheel rotating and the radius of the wheel. represents the moving speed of the wheel center, represents the reference speed of the wheel center moving, and θ represents the pitch angle of the wheel-legged robot, represents the pitch angle speed of the wheel-legged robot, and θ ref represents the pitch angle reference value of the wheel-legged robot, represents the pitch angle speed reference value of the wheel-legged robot, and τ represents the torque of the wheel motor input to the wheel-legged robot. Wherein, θ, and are obtained by the sensor acquisition.

[0066] Schematically, please refer to Figure 6 , first, the reference speed of the wheel center moving is obtained, that is, the speed that the wheel needs to reach according to the motion expectation, and the moving speed of the wheel center is obtained by the sensor acquisition. ref After the reference speed is subtracted from the moving speed, θ ref is obtained by inputting the PID controller 610, and θ is obtained by outputting the PID controller. After the difference between θ and θ is obtained, the result is input into the PID controller 630, and τ is output to balance control the wheels of the wheel-legged robot.

[0067] Balance control in the roll direction:

[0068] Optionally, the angle in the roll direction represents the lateral swing range caused by the fact that the two legs of the wheel-legged robot are of different lengths or are at different heights, and the ideal angle is input to the PID controller, and the leg length of the wheel-legged robot is controlled according to the difference between the current roll angle and the ideal angle, so as to keep the two legs of the wheel-legged robot supporting the main body part of the wheel-legged robot at the same height. Generally, the ideal angle is 0, and the leg length that needs to be changed at the current roll angle is calculated according to the PID controller, and the joint angle change amount is calculated according to the leg length that needs to be changed, so as to control the joint angle of the leg structure.

[0069] For illustration, please refer to Figure 7 The difference between the ideal angle and the roll angle is input to the PID controller 710, and the leg length change is output, so as to determine the joint angle change amount based on the leg length change, and input the joint angle change amount to the motor controlling the leg structure to control the joint angle.

[0070] Balance control in the yaw direction:

[0071] The angle in the yaw direction represents the angle generated by the wheel-legged robot during rotation, and in the embodiment, the yaw angle of the wheel-legged robot is represented by , the yaw angle velocity of the wheel-legged robot is represented by , the yaw angle reference value of the wheel-legged robot is represented by , and the yaw angle velocity reference value of the wheel-legged robot is represented by For illustration, please refer to Figure 8 The difference between and is input to the PID controller 810, and the torque increment is output.

[0072] In combination with the above, the control method of the motion state provided by the embodiment of the application is introduced in the scheme of crossing the obstacle, Figure 9 is a flowchart of the control method of the motion state provided by an embodiment of the application, and the method can be implemented in a microprocessor of the wheel-legged robot. As shown in Figure 9 , the method comprises the following steps.

[0073] In step 901, obstacle information is obtained, and the obstacle information is the information of the obstacle located on the motion track of the wheel-legged robot.

[0074] The wheel-legged robot comprises a first wheel and a second wheel, and the obstacle blocks the first wheel of the wheel-legged robot.

[0075] In some embodiments, the obstacle only blocks the first wheel of the wheel-legged robot, that is, the obstacle does not block the second wheel of the wheel-legged robot.

[0076] It is worth noting that in this embodiment, the first wheel is blocked by the obstacle as an example for illustration, and in implementation, it can also be implemented as the second wheel being blocked by the obstacle and the first wheel not being blocked by the obstacle, wherein the calculation manner when the first wheel is blocked and the second wheel is blocked is consistent.

[0077] Optionally, the obstacle information is pre-stored corresponding to the motion trajectory information of the wheel-legged robot, that is, when the motion trajectory of the wheel-legged robot is pre-set, the information of the obstacle corresponding to the motion trajectory is stored; or the obstacle information is acquired in real time when the wheel-legged robot moves on the motion trajectory. Optionally, the obstacle information is acquired in real time through a camera, a laser ranging sensor or the like.

[0078] In this embodiment, the obstacle information is acquired in real time by the wheel-legged robot on the motion trajectory as an example for illustration. Optionally, the wheel-legged robot includes an image acquisition device, and when the wheel-legged robot moves on the motion trajectory, the image acquisition device acquires the road image corresponding to the motion trajectory, and extracts the obstacle information from the road image.

[0079] In some embodiments, the obstacle information includes at least one of the obstacle distance, the obstacle height, the obstacle length, the obstacle position and the like. In this embodiment, the obstacle information includes the obstacle height and the obstacle distance.

[0080] The obstacle distance refers to the distance between the obstacle and the position of the wheel-legged robot along the motion trajectory; the obstacle height refers to the height of the top of the obstacle from the ground, or the height of the top of the obstacle from the motion plane of the wheel-legged robot; and the obstacle length refers to the coinciding length of the obstacle and the motion trajectory.

[0081] In some embodiments, the obstacle is determined to be located on the motion trajectory of the wheel-legged robot based on the obstacle position, and other information of the obstacle is acquired; or the obstacle information displayed in the road image is acquired, and the obstacle located on the motion trajectory of the wheel-legged robot is determined according to the obstacle position in the obstacle information.

[0082] Step 902, determining reference roll angle information based on the obstacle information.

[0083] The reference roll angle information is used to indicate the lateral inclination angle of the wheel-legged robot in the preparation stage of crossing the obstacle. That is, the angle caused by the fact that the heights of the two wheels corresponding to the wheel legs relative to the motion plane are inconsistent; or the angle caused by the fact that the motion plane itself is inclined.

[0084] Optionally, the height of the obstacle is determined based on the obstacle information, and the reference roll angle information is determined according to the height of the obstacle. The reference roll angle information is used to lift the first wheel of the wheel-legged robot to store energy, that is, when the first wheel of the wheel-legged robot is lifted, there is a tendency to tilt towards the first wheel, and the reference roll angle information is used to tilt in the opposite direction in advance, so that there is an angular buffer when the wheel-legged robot tilts towards the first wheel.

[0085] In some embodiments, the manner of determining the reference roll angle information includes at least one of the following manners:

[0086] First, the reference roll angle information is stored in correspondence with the height of the obstacle, that is, the corresponding reference roll angle information is determined from the pre-stored obstacle height and roll angle correspondence according to the height of the obstacle.

[0087] Second, the wheel-legged robot stores a calculation manner of the height of the obstacle and the reference roll angle, and after the height of the obstacle is determined, the height of the obstacle is substituted into the calculation manner to obtain the reference roll angle information.

[0088] It is worth noting that the above-mentioned determination manner of the reference roll angle information is only an illustrative example, and the embodiments of the present application are not limited thereto.

[0089] In some embodiments, since the reference roll information is determined according to the height of the obstacle, the height corresponding to the reference roll information is equal to or close to the height of the obstacle. In some embodiments, the height corresponding to the reference roll information is equal to the height of the obstacle, or the height corresponding to the reference roll information is slightly higher or lower than the height of the obstacle, and the embodiments of the present application are not limited thereto. In some embodiments, the height corresponding to the reference roll information is determined by the reference roll angle and the roll angle after the roll angle is adjusted by a preset coefficient, the preset coefficient is related to the position control parameter of the motor joint space, and is usually between 0.8 and 1.2.

[0090] Step 903, based on the reference roll angle information, the wheel-legged robot is tilted.

[0091] The wheel-legged robot is tilted based on the reference roll angle information before the first wheel is lifted to perform lateral tilting to lift the first wheel to store energy.

[0092] Step 904, in response to the wheel-legged robot moving to a position corresponding to a target distance from the obstacle, the position of the first wheel is adjusted based on the obstacle information.

[0093] In some embodiments, the wheel-legged robot moves to a position with a target distance from the obstacle, i.e., the wheel-legged robot reaches the position of the obstacle after moving a target distance along the movement trajectory, wherein the target distance is a target distance before the wheel-legged robot moves to reach the obstacle.

[0094] In some embodiments, the first wheel is lifted to a height corresponding to the height of the obstacle based on the obstacle information.

[0095] In some embodiments, after determining the lifting height of the first wheel, the position coordinates of the first wheel relative to the wheel-legged robot after being lifted are determined, and the corresponding wheel leg joint angle of the first wheel is determined according to the position coordinates, so as to adjust the joint angle of the wheel leg.

[0096] In some embodiments, the position adjustment of the first wheel includes at least one of the following cases:

[0097] First, the first wheel corresponding to the first wheel leg is retracted to lift the first wheel to a height corresponding to the reference roll information;

[0098] Second, the second wheel corresponding to the second wheel leg is extended to lift the first wheel to a height corresponding to the reference roll information;

[0099] Third, the first wheel corresponding to the first wheel leg is retracted, and the second wheel corresponding to the second wheel leg is extended to lift the first wheel to a height corresponding to the reference roll information.

[0100] Step 905, within the target distance range, in the state that the first wheel is lifted and the second wheel is in contact with the ground, the wheel-legged robot is driven to move to the position of the obstacle by the second wheel.

[0101] In some embodiments, when the first wheel is lifted, since the second wheel is not lifted, it maintains the adhesion to the movement plane, so the wheel-legged robot continues to move along the movement trajectory by the rotation of the second wheel, and moves to the position of the obstacle.

[0102] Optionally, the target distance is a pre-set distance, since the balance of the wheel-legged robot is affected after the first wheel is lifted, there may be a tendency to fall in the direction of the first wheel, therefore, the target distance needs to be set within a certain distance range, such as within 0.2 meters, illustratively, the target distance is 0.1 meters, when the distance between the wheel-legged robot and the obstacle is 0.1 meters, the wheel-legged robot lifts the first wheel, and drives the wheel-legged robot to move to the position of the obstacle within the distance range of 0.1 meters by the second wheel, and the first wheel is placed on the obstacle or directly over the obstacle.

[0103] Alternatively, the target distance is a distance calculated by the wheel-legged robot according to a current movement speed. Illustratively, the wheel-legged robot determines the target distance based on a time difference requirement for reaching the obstacle after lifting the leg, such as: the time difference requirement is 0.2 seconds, and the current speed of the wheel-legged robot is 1 meter per second, then the target distance is 0.2 meters.

[0104] To sum up, the method provided in the embodiment can determine the reference roll angle through the obstacle information when there is an obstacle on the movement trajectory of the wheel-legged robot, and thus the position of the first wheel is adjusted in advance at the target distance according to the reference roll angle, so as to adapt to the height of the obstacle and cross the obstacle, thereby improving the flexibility of controlling the wheel-legged robot to pass through the obstacle, avoiding the problem that the wheel-legged robot can only pass through the obstacle in a detour manner when encountering the obstacle, and ensuring the movement efficiency, or enabling the wheel-legged robot to pass through the obstacle when the surrounding terrain cannot be detoured.

[0105] In some embodiments, when the position of the first wheel is adjusted based on the reference roll angle information, it is necessary to first determine the wheel leg adjustment data according to the reference roll angle information. Figure 10 is a flowchart of a movement state control method provided in an example embodiment of the present application, which can be implemented in a microprocessor of a wheel-legged robot. As shown in Figure 10 the method comprises:

[0106] Step 1001, obtaining obstacle information, the obstacle information being information of an obstacle located on a movement trajectory of the wheel-legged robot.

[0107] The wheel-legged robot comprises a first wheel and a second wheel, and the obstacle blocks the first wheel of the wheel-legged robot.

[0108] In some embodiments, the obstacle information comprises at least one of obstacle distance, obstacle height, obstacle length, obstacle position, etc. In the embodiment, the obstacle information comprises the obstacle height and the obstacle distance.

[0109] Step 1002, determining reference roll angle information based on the obstacle information.

[0110] The reference roll angle information is used to indicate the lateral inclination angle of the wheel-legged robot in the preparation stage of crossing the obstacle. That is, the angle caused by the fact that the heights of the legs corresponding to the two wheels are inconsistent with respect to the movement plane; or the angle caused by the fact that the movement plane itself is inclined.

[0111] Optionally, the obstacle height is determined based on the obstacle information, and the reference roll angle information when the first wheel of the wheel-legged robot is at the obstacle height is determined.

[0112] At step 1003, in response to the wheel-legged robot moving to a position corresponding to a target distance from the obstacle, the roll angle information of the wheel-legged robot is acquired.

[0113] Optionally, the roll angle information of the wheel-legged robot is acquired by an inertial sensor (IMU).

[0114] At step 1004, a difference between the roll angle information and reference roll angle information is determined to obtain a roll angle difference value.

[0115] The roll angle difference value is the angle of the roll angle that the current wheel-legged robot needs to adjust.

[0116] At step 1005, the first wheel leg corresponding to the first wheel is elongated based on the roll angle difference value, and the wheel-legged robot is adjusted in inclination.

[0117] In some embodiments, the wheel-legged robot is adjusted in inclination by extending the first wheel leg and / or retracting the second wheel leg. In some embodiments, first wheel leg adjustment data corresponding to the first wheel is determined based on the roll angle difference value, the first wheel leg corresponding to the first wheel is elongated based on the first wheel leg adjustment data, and the wheel-legged robot is adjusted in inclination.

[0118] Given the roll angle difference value, one of the wheel legs corresponding to the two wheels needs to be elongated and the other needs to be retracted, and the change amount of the retraction and the elongation is the same. Illustratively, the wheel leg change amount is as shown in Figure 11 The planar projection of the wheel-legged robot 1100 in the inclined state is as shown in Figure 11 In the triangle ACD, the length of DC is 0.5l0, and the calculation formula of the wheel leg change length AC is as shown in the following formula four:

[0119] Formula four:

[0120] wherein, represents the wheel leg change length, represents the reference roll angle of the wheel-legged robot.

[0121] Since Figure 11 is described by taking one wheel leg retraction and one wheel leg elongation as an example, in the scheme of single wheel leg retraction to the reference roll angle, the first wheel leg is elongated by 2 ; or, when the reference roll angle is reached by single wheel leg elongation, the second wheel leg corresponding to the second wheel is retracted by 2 ; or, when the first wheel leg and the second wheel leg are adjusted in a certain ratio, such as: the first wheel leg is elongated by 1.5 , and the second wheel leg is retracted by 0.5 The embodiments of the present application do not limit the combination of the first wheel leg contraction and the second wheel leg extension.

[0122] Optionally, the joint angle adjustment data of the first wheel leg is determined based on the first wheel leg adjustment data, and the first wheel leg is adjusted in length based on the joint angle adjustment data, so as to drive the inclination adjustment of the wheel-legged robot.

[0123] In some embodiments, the wheel-legged robot comprises a first wheel leg motor for adjusting the bending degree of the first wheel leg. The joint angle adjustment data is input into the first wheel leg motor, and the first wheel leg is driven to adjust the bending degree according to the joint angle adjustment data, so as to drive the inclination adjustment of the wheel-legged robot.

[0124] In step 1006, in response to the wheel-legged robot moving to a position corresponding to the target distance from the obstacle, the position of the first wheel is lifted based on the obstacle information.

[0125] Optionally, in response to the wheel-legged robot moving to a position corresponding to the target distance from the obstacle, the first wheel is lifted to a height corresponding to the height of the obstacle based on the height of the obstacle.

[0126] In some embodiments, the first wheel is lifted to a height corresponding to the reference roll information by contracting the first wheel leg and extending the second wheel leg. Given the roll angle difference, one of the wheel legs corresponding to the two wheels needs to be extended and the other needs to be contracted, and the change amount of the contraction and the extension is the same. Illustratively, one wheel leg is contracted and the other is extended. In the case of a single wheel leg contraction reaching the reference roll angle, the first wheel leg is contracted by 2 ; or, in the case of a single wheel leg extension reaching the reference roll angle, the second wheel leg corresponding to the second wheel is extended by 2 ; or, when the first wheel leg and the second wheel leg are adjusted in a certain ratio, such as: the first wheel leg is contracted by 1.5 , and the second wheel leg is extended by 0.5 The embodiments of the present application do not limit the combination of the first wheel leg contraction and the second wheel leg extension.

[0127] In some embodiments, the wheel leg motor for controlling the wheel leg is controlled by the joint angle of the wheel leg. Taking the contraction of the first wheel leg to control the first wheel as an example, the joint angle adjustment data of the first wheel leg is determined based on the first wheel leg adjustment data, and the first wheel leg corresponding to the first wheel is adjusted based on the joint angle adjustment data, so as to drive the lifting adjustment of the first wheel.

[0128] Optionally, when the first wheel is lifted by retracting the first leg and extending the second leg, the joint angle adjustment data of the first leg and the joint angle adjustment data of the second leg are determined based on the first leg adjustment data, and the first leg is adjusted according to the joint angle adjustment data of the first leg, and the second leg is adjusted according to the joint angle adjustment data of the second leg.

[0129] For example, the leg-wheel robot includes a first leg motor for adjusting the bending degree of the first leg, and the bending degree is negatively correlated with the length of the first leg, that is, the higher the bending degree of the first leg, the shorter the length of the first leg.

[0130] The joint angle adjustment data of the first leg is input into the first leg motor, and the first leg motor drives the first leg to adjust the bending degree according to the joint angle data, thereby driving the position adjustment of the first wheel.

[0131] In the process of determining the joint angle adjustment data according to the first leg adjustment data, the above-mentioned Figure 4 The joint angle information derivation method shown in the figure is also realized, that is, after the wheel height change amount is determined, the position coordinates of the first wheel in the changed position are obtained, and the joint angle is obtained according to the position coordinates of the first wheel.

[0132] Step 1007, in the target distance range, in the state that the first wheel is lifted and the second wheel is in contact with the ground, the leg-wheel robot is driven to move to the position of the obstacle by the second wheel.

[0133] In some embodiments, when the first wheel is lifted, the second wheel is not lifted, and keeps in contact with the movement plane, so that the leg-wheel robot continues to move along the movement trajectory by the rotation of the second wheel, and moves to the position of the obstacle.

[0134] Schematically, Figure 12 is a schematic diagram of the leg-wheel robot lifting the leg to cross the obstacle provided by an exemplary embodiment of the present application, as Figure 12 As shown in the figure, the double wheels of the leg-wheel robot 1200 are in ground movement, and when passing through the obstacle 1210, the first wheel 1220 of the leg-wheel robot 1200 is lifted to a height corresponding to the obstacle 1210 in advance, and the leg-wheel robot 1200 continues to move forward by the second wheel 1230, when the first wheel 1220 moves on the obstacle 1210, the roll angle of the leg-wheel robot 1200 is 0, that is, in the horizontal balance state, when crossing the obstacle 1210, the leg-wheel robot 1200 lowers the first wheel, or retracts the second wheel to the same height as the first wheel, so as to restore to the state that the double wheels move on the ground.

[0135] In conclusion, the method provided in the embodiment can determine the reference roll angle through the obstacle information when the wheel-legged robot moves along the trajectory with the obstacle, and the position of the first wheel is adjusted in advance at the target distance according to the reference roll angle to adapt to the height of the obstacle and cross the obstacle, thereby improving the flexibility of the wheel-legged robot when crossing the obstacle, avoiding the problem of low movement efficiency caused by the wheel-legged robot only being able to pass the obstacle by detouring, or being able to cross the obstacle when the surrounding terrain cannot be detoured.

[0136] The method provided in the embodiment can determine the wheel leg adjustment data for lifting the first wheel according to the height of the obstacle when determining the height of the obstacle, so as to adjust the first wheel leg and / or the second wheel leg to control the first wheel to reach the height corresponding to the height of the obstacle, so that the first wheel can cross the obstacle on the top surface of the obstacle, and the control efficiency of the wheel-legged robot is improved.

[0137] Figure 13 It is a flowchart of a motion state control method provided in an example embodiment of the present application, which can be implemented in a microprocessor of a wheel-legged robot. As shown in Figure 13 The method comprises the following steps:

[0138] In step 1301, obstacle information is obtained, which is the information of the obstacle located on the motion trajectory of the wheel-legged robot.

[0139] The wheel-legged robot comprises a first wheel and a second wheel, and the obstacle blocks the first wheel of the wheel-legged robot.

[0140] The wheel-legged robot comprises an image acquisition device, and the road image corresponding to the motion trajectory is acquired through the image acquisition device, and the obstacle information is extracted from the road image.

[0141] In some embodiments, the height, distance, and other information of the obstacle are predicted according to the display proportion and display size of the obstacle on the image acquisition device.

[0142] In step 1302, the strategy selection of the wheel-legged robot crossing the obstacle is determined based on the obstacle information.

[0143] The strategy selection is determined from the crossing strategy and the detouring strategy. The crossing strategy refers to the strategy of keeping the original motion trajectory unchanged and crossing the obstacle by lifting the wheel. The detouring strategy refers to the strategy of planning a new motion trajectory away from the original motion trajectory.

[0144] In some embodiments, the bypass strategy is selected when the obstacle height is higher than a preset height, or when the number of breakpoints of the overlapping section between the obstacle and the motion trajectory is greater than a preset number, or when the top surface of the obstacle is irregular, or when the obstacle is a moving object. Otherwise, the overpass strategy is selected.

[0145] In step 1303, in response to the strategy being selected as the overpass strategy, reference roll angle information of the wheel-legged robot is determined based on the obstacle information.

[0146] Optionally, the obstacle height is determined based on the obstacle information, and the reference roll angle information of the wheel-legged robot when the first wheel is at the obstacle height is determined.

[0147] In the embodiments of the present application, the reference roll angle information of the wheel-legged robot is determined according to the obstacle height, that is, the roll angle that the wheel-legged robot may generate when the first wheel of the wheel-legged robot is on the obstacle is simulated according to the obstacle height, so as to eliminate the angle of the roll angle as the reference roll angle.

[0148] In step 1304, the wheel-legged robot is tilted based on the reference roll angle information.

[0149] In the embodiments of the present application, the wheel-legged robot is tilted based on the reference roll angle information before the first wheel is lifted, so as to accumulate energy for lifting the first wheel.

[0150] In step 1305, in response to the wheel-legged robot moving to a position corresponding to a target distance from the obstacle, the position of the first wheel is adjusted based on the obstacle information.

[0151] In step 1306, within the target distance range, the wheel-legged robot is driven to move to the position of the obstacle by the second wheel in a state that the first wheel is lifted and the second wheel is in contact with the ground.

[0152] In some embodiments, when the first wheel is lifted, the second wheel is not lifted, so as to keep the contact with the motion plane, and the wheel-legged robot is driven to continue moving along the motion trajectory by the rotation of the second wheel, and moves to the position of the obstacle.

[0153] In step 1307, in response to the roll angle adjustment result of the wheel-legged robot meeting the reference roll angle information and the first wheel reaching the position of the obstacle, the reference roll angle information is restored to the initial reference roll angle.

[0154] Optionally, when the lateral roll angle adjustment result of the wheel-legged robot meets the reference lateral roll angle information, it means that the first wheel of the wheel-legged robot is raised to the height corresponding to the obstacle, and thus the first wheel can move on the top surface of the obstacle when reaching the position of the obstacle, thereby maintaining the balance of the wheel-legged robot, and thus the reference lateral roll angle information is restored to the initial reference lateral roll angle. In some embodiments, the reference lateral roll angle information is the lateral roll angle calculated according to the obstacle height, and the initial reference lateral roll angle is 0, indicating that the wheel-legged robot is parallel to the movement plane in the double-wheel connection direction and is in a horizontal balance state.

[0155] Optionally, in the process of the wheel-legged robot passing through the obstacle, the control strategy remains unchanged, the target lateral roll angle is 0, and the wheel-legged robot automatically forms a leg-stretching contact with the ground during the process of passing through the obstacle. After contacting the ground, the lateral roll angle of the upper body is automatically adjusted to 0, i.e., a balanced posture.

[0156] After the reference lateral roll angle information is restored to the initial reference lateral roll angle, in response to the first wheel being located on the top surface of the obstacle, the first wheel of the wheel-legged robot is controlled based on the initial reference lateral roll angle to move on the top surface of the obstacle, and the second wheel is controlled to drive the wheel-legged robot to move along the movement trajectory on the road plane.

[0157] After the reference lateral roll angle information is restored to the initial reference lateral roll angle, in response to the first wheel passing over the obstacle, the position of the first wheel is adjusted based on the initial reference lateral roll angle, i.e., the first wheel is adjusted to the same height as the second wheel, and the wheel-legged robot is driven by the first wheel and the second wheel to move along the movement trajectory on the road plane at the initial reference lateral roll angle.

[0158] In summary, the method provided in the embodiment can determine the reference lateral roll angle through obstacle information when the movement trajectory of the wheel-legged robot has an obstacle, thereby adjusting the position of the first wheel at a distance of the target distance in advance according to the reference lateral roll angle to adapt to the height of the obstacle and pass over the obstacle, thereby improving the flexibility of controlling the wheel-legged robot to pass through the obstacle, avoiding the problem of low movement efficiency caused by the wheel-legged robot being able to only pass through the obstacle by detouring when encountering the obstacle, or being able to pass over the obstacle when unable to detour due to the surrounding terrain.

[0159] The method provided in the embodiment first determines different strategies under different obstacle conditions through strategy selection, thereby avoiding the problem of the wheel-legged robot being unable to reach the obstacle height in the case of a too high obstacle, or the problem of a large calculation amount of the wheel-legged robot in the case of an irregular obstacle.

[0160] Illustratively, Figure 14 is the overall flowchart of the wheel-legged robot passing through the obstacle provided in an exemplary embodiment of the present application, as shown in Figure 14As shown, the process includes:

[0161] Step 1401, visual information acquisition.

[0162] The image acquisition device is included on the wheel-legged robot, and the visual information in the first-person perspective of the wheel-legged robot is acquired through the image acquisition device, that is, the road image corresponding to the motion path of the wheel-legged robot is acquired.

[0163] Step 1402, visual information processing.

[0164] According to the information such as the acquisition point, acquisition resolution, and lens parameters of the visual information, the object information is obtained from the road image.

[0165] Step 1403, obstacle height identification.

[0166] When there is an obstacle in the motion path of the wheel-legged robot, the obstacle height is obtained through the road image.

[0167] Step 1404, determination of whether the obstacle can be crossed.

[0168] The determination is made according to the information such as the state of the obstacle, the height of the obstacle, and the width of the obstacle.

[0169] Step 1405, if the obstacle cannot be crossed, stopping or executing a detour strategy.

[0170] Step 1406, if the obstacle can be crossed, obstacle distance identification.

[0171] The obstacle distance refers to the distance between the current obstacle and the wheel-legged robot along the motion trajectory.

[0172] Step 1407, determination of the leg-kicking point position according to the driving speed.

[0173] In some embodiments, the distance between the leg-kicking point position and the obstacle is in a positive proportional relationship with the driving speed, that is, the faster the driving speed, the greater the distance between the leg-kicking point position and the obstacle.

[0174] After determining to execute the obstacle-crossing strategy of lifting the leg and kicking the ground, the distance to the obstacle is identified, and the leg-kicking point position is determined according to the driving speed of the wheel-legged robot itself. For example, the wheel-legged robot can determine that the ground needs to be kicked at a position 0.2 m away from the obstacle at the current driving speed.

[0175] Step 1408, calculation of the roll reference angle.

[0176] The wheel-legged robot calculates the roll direction reference angle according to the obtained obstacle height, for example, the roll direction reference angle calculated according to the obstacle height is 15 degrees.

[0177] The roll reference angle is used to represent the target roll angle of the wheel-legged robot, i.e., the wheel-legged robot adjusts the target motion with the roll reference angle.

[0178] Step 1409, it is judged whether the leg-kicking point is reached.

[0179] The wheel-legged robot continuously judges whether the leg-kicking point (i.e., the position 0.2 m in front of the obstacle) is reached, and if not, the normal balance is maintained to drive forward.

[0180] As shown in the schematic diagram, Figure 15 when the distance between the wheel-legged robot 1500 and the obstacle 1510 is 0.5 m, the wheel-legged robot 1500 maintains normal balance to drive forward, and the double wheels keep in contact with the ground.

[0181] Step 1410, when the leg-kicking point is reached, it is judged whether the roll angle reaches the pre-calculated roll reference angle.

[0182] If the distance from the obstacle is less than or equal to 0.2 m, it is judged whether the roll angle reaches the pre-calculated roll reference angle, i.e., 15 degrees.

[0183] As shown in the schematic diagram, Figure 15 when the distance between the wheel-legged robot 1500 and the obstacle 1510 is 0.2 m, the roll reference value of the wheel-legged robot 1500 is set to the pre-calculated roll reference angle, so as to control the first wheel 1501 to be lifted up.

[0184] Step 1411, if not, the roll reference angle is set to the target roll angle.

[0185] At the beginning, the roll reference angle is 0, which is different from the roll reference angle, so the wheel-legged robot sets the roll reference value to the roll direction pre-calculated roll reference angle 15 degrees.

[0186] Step 1412, the wheel-legged change amount is calculated according to the roll reference angle.

[0187] According to the above calculation principle of the wheel-legged change amount, the wheel-legged change amount, i.e., the adjustment amount of the first wheel leg and / or the second wheel leg, is calculated according to the roll reference angle.

[0188] Step 1413, the joint angle is calculated according to the inverse kinematics.

[0189] Step 1414, the joint angle is sent to the motor to adjust the robot posture.

[0190] Step 1415, if the pre-calculated roll reference angle is reached, the roll reference angle is set to 0.

[0191] If the pre-calculated roll reference angle is reached, it indicates that the first wheel of the wheel-legged robot has completed the lifting, so the roll reference angle is set to 0, and the first wheel of the wheel-legged robot is supported by the top surface of the obstacle to continue moving along the motion trajectory.

[0192] It is worth noting that the angle values, distance values and other numerical values used in the above embodiments are only illustrative, and the reference angle, distance and other numerical values are not limited in the embodiments of the present application.

[0193] Step 1416, keep the pitch balance movement.

[0194] As shown in the figure, when the first wheel 1501 of the wheel-legged robot reaches the obstacle, the pitch balance of the wheel-legged robot 1500 is maintained, and the forward movement continues with a roll reference angle of 0. Figure 15

[0195] In some embodiments, as shown in the figure, when the wheel-legged robot 1500 passes over the obstacle 1510, since the first wheel is in the lifted state, the wheel-legged robot 1500 has a tendency to tip in the direction of the first wheel. The wheel-legged robot 1500 detects that the roll angle changes while moving, which is different from the roll reference angle of 0 degrees, so the wheel-legged robot is adjusted in posture with the roll reference angle as the adjustment target, such as extending the first wheel leg to the same height as the second wheel leg. Figure 15 In some embodiments, when the wheel-legged robot is descending a slope, when the pitch angle is detected to be greater than a certain value, or the driving speed is greater than a certain value, the robot height is lowered to keep the robot balanced.

[0196]

[0197] Figure 16 is a structural block diagram of a motion state control device provided by an exemplary embodiment of the present application. Taking the case that the device is arranged in a wheel-legged robot, as shown in the figure, the device includes: Figure 16

[0198] The acquisition module 1610 is configured to acquire obstacle information, the obstacle information being information of an obstacle located on a motion trajectory of the wheel-legged robot, the obstacle blocking a first wheel of the wheel-legged robot;

[0199] The determination module 1620 is configured to determine reference roll angle information based on the obstacle information, the reference roll angle information being used to indicate a lateral inclination angle of the wheel-legged robot in a preparation phase of passing over the obstacle;

[0200] ​​​The control module 1630 is configured to, in response to the wheel-legged robot moving to a position corresponding to a target distance of the obstacle, perform lifting adjustment on the first wheel based on the obstacle information; and perform tilting on the wheel-legged robot based on the reference roll angle information.

[0201] The control module 1630 is further configured to drive the wheel-legged robot to move to a position where the obstacle is located by the second wheel within the target distance range.

[0202] In an optional embodiment, the acquisition module 1610 is further configured to acquire roll angle information of the wheel-legged robot.

[0203] The determination module 1620 is further configured to determine a difference between the roll angle information and the reference roll angle information to obtain a roll angle difference value.

[0204] The control module 1630 is further configured to perform tilting adjustment on the wheel-legged robot by elongating a first leg corresponding to the first wheel based on the roll angle difference value.

[0205] In an optional embodiment, the determination module 1620 is further configured to determine first leg adjustment data of the first leg corresponding to the first wheel based on the roll angle difference value.

[0206] The control module 1630 is further configured to perform tilting adjustment on the wheel-legged robot by elongating the first leg corresponding to the first wheel based on the first leg adjustment data.

[0207] In an optional embodiment, the determination module 1620 is further configured to determine joint angle adjustment data of the first leg based on the first leg adjustment data.

[0208] The control module 1630 is further configured to perform elongation adjustment on the first leg according to the joint angle adjustment data, so as to drive tilting adjustment of the wheel-legged robot.

[0209] In an optional embodiment, the wheel-legged robot comprises a first leg motor configured to adjust a bending degree of the first leg.

[0210] The control module 1630 is further configured to input the joint angle adjustment data into the first leg motor, and drive the first leg to adjust the bending degree according to the joint angle adjustment data by the first leg motor, so as to drive tilting adjustment of the wheel-legged robot.

[0211] In an optional embodiment, the obstacle information comprises an obstacle height.

[0212] The control module 1630 is further configured to, in response to the wheel-legged robot moving to a position corresponding to a target distance from the obstacle, lift the first wheel to a height corresponding to the height of the obstacle based on the height of the obstacle.

[0213] In an optional embodiment, the determination module 1620 is further configured to determine the target distance based on a relative motion speed between the wheel-legged robot and the obstacle and a current distance between the wheel-legged robot and the obstacle.

[0214] In an optional embodiment, the wheel-legged robot comprises an image acquisition device;

[0215] The acquisition module 1610 is further configured to acquire a road image corresponding to the motion trajectory through the image acquisition device, and extract the obstacle information from the road image.

[0216] In an optional embodiment, after driving the wheel-legged robot to the position where the obstacle is located through the second wheel, the method further comprises:

[0217] In response to the result of adjusting the roll angle of the wheel-legged robot meeting the reference roll angle information and the first wheel reaching the position where the obstacle is located, the reference roll angle information is restored to an initial reference roll angle, which is a specified roll angle of the wheel-legged robot when moving on a plane.

[0218] In an optional embodiment, the control module 1630 is further configured to, in response to the first wheel being located on the top surface of the obstacle, control the first wheel of the wheel-legged robot to move on the top surface of the obstacle and the second wheel of the wheel-legged robot to move on the road plane along the motion trajectory based on the initial reference roll angle.

[0219] In an optional embodiment, the control module 1630 is further configured to, in response to the first wheel passing over the obstacle, perform landing adjustment on the position of the first wheel based on the initial reference roll angle.

[0220] In an optional embodiment, the determination module 1620 is further configured to determine a strategy selection of the wheel-legged robot passing through the obstacle based on the obstacle information, the strategy selection being determined from a passing strategy and a detour strategy.

[0221] The determination module 1620 is further configured to, in response to the strategy selection being the passing strategy, determine reference roll angle information of the wheel-legged robot based on the obstacle information.

[0222] To sum up, the device provided in the embodiment can determine the reference roll angle according to the obstacle information when there is an obstacle on the motion trajectory of the wheel-legged robot, and thus the position of the first wheel is adjusted in advance at a distance of the target distance according to the reference roll angle to adapt to the height of the obstacle and cross the obstacle, thereby improving the flexibility of the wheel-legged robot when crossing the obstacle, avoiding the problem of low motion efficiency caused by the wheel-legged robot only being able to pass the obstacle by detouring when encountering the obstacle, or being able to cross the obstacle when the surrounding terrain cannot be detoured.

[0223] It should be noted that the motion state control device provided in the above embodiment is only exemplified by the division of the above functional modules, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the motion state control device provided in the above embodiment and the motion state control method embodiment belong to the same concept, and the specific implementation process is described in detail in the method embodiment, which will not be described here.

[0224] Figure 17 A structural block diagram of an electronic device 1700 provided in an example embodiment of the present application is shown. The electronic device 1700 can be a portable mobile terminal, such as a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III), an MP4 (Moving Picture Experts Group Audio Layer IV) player, a notebook computer, or a desktop computer. The electronic device 1700 can also be referred to as a user device, a portable terminal, a laptop terminal, a desktop terminal, or other names. In the embodiment of the present application, the electronic device 1700 is implemented as a control device part in a wheel-legged robot.

[0225] Generally, the electronic device 1700 includes a processor 1701 and a memory 1702.

[0226] The processor 1701 can include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 1701 can be implemented in at least one of a hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), a PLA (Programmable Logic Array). The processor 1701 can also include a main processor and a coprocessor, the main processor being a processor for processing data in an awake state, also referred to as a CPU (Central Processing Unit), and the coprocessor being a low-power processor for processing data in a standby state. In some embodiments, the processor 1701 can be integrated with a GPU (Graphics Processing Unit) for rendering and drawing content required to be displayed by the display screen. In some embodiments, the processor 1701 can further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.

[0227] The memory 1702 can include one or more computer-readable storage media that can be non-transitory. The memory 1702 can also include high-speed random access memory and nonvolatile, computer-readable storage media such as one or more magnetic disk storage devices, flash memory devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 1702 is used to store at least one instruction for being executed by the processor 1701 to implement the motion state control method provided by the method embodiment of the present application.

[0228] In some embodiments, the electronic device 1700 can also optionally include a peripheral device interface 1703 and at least one peripheral device. The processor 1701, the memory 1702, and the peripheral device interface 1703 can be connected through a bus or a signal line. Each peripheral device can be connected to the peripheral device interface 1703 through a bus, a signal line, or a circuit board. Specifically, the peripheral device includes at least one of a radio frequency circuit 1704, a display screen 1705, a camera assembly 1706, an audio circuit 1707, a positioning assembly 1708, and a power supply 1709.

[0229] The peripheral interface 1703 can be used to connect at least one I / O (Input / Output) related peripheral device to the processor 1701 and the memory 1702. In some embodiments, the processor 1701, the memory 1702 and the peripheral interface 1703 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1701, the memory 1702 and the peripheral interface 1703 can be implemented on a separate chip or circuit board, and the present embodiments are not limited in this regard.

[0230] The radio frequency circuit 1704 is used to receive and send RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 1704 communicates with a communication network and other communication devices through electromagnetic signals. The radio frequency circuit 1704 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 1704 includes an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and the like. The radio frequency circuit 1704 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a Wi-Fi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 1704 can also include NFC (Near Field Communication) related circuitry, and the present application is not limited in this regard.

[0231] The display screen 1705 is configured to display a UI (User Interface). The UI can include graphics, text, icons, video, and any combination thereof. When the display screen 1705 is a touch display screen, the display screen 1705 is further configured to capture touch signals on or above the surface of the display screen 1705. The touch signals can be input to the processor 1701 as control signals for processing. In this case, the display screen 1705 can also be configured to provide virtual buttons and / or virtual keyboard, also known as soft buttons and / or soft keyboard. In some embodiments, the display screen 1705 can be one, disposed on the front panel of the electronic device 1700; in other embodiments, the display screen 1705 can be at least two, respectively disposed on different surfaces of the electronic device 1700 or in a folding design; in other embodiments, the display screen 1705 can be a flexible display screen, disposed on a curved surface or a folding surface of the electronic device 1700. Even, the display screen 1705 can also be disposed in an irregular shape other than a rectangle, i.e., a special-shaped screen. The display screen 1705 can be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), etc.

[0232] The camera assembly 1706 is configured to capture images or videos. Optionally, the camera assembly 1706 includes a front camera and a rear camera. Typically, the front camera is disposed on the front panel of the terminal, and the rear camera is disposed on the back of the terminal. In some embodiments, the rear camera is at least two, which are any one of a main camera, a depth-of-field camera, a wide-angle camera, and a long-focus camera, to realize the background blur function of the main camera and the depth-of-field camera, the panoramic shooting and VR (Virtual Reality) shooting function of the main camera and the wide-angle camera, or other fusion shooting functions. In some embodiments, the camera assembly 1706 can further include a flash. The flash can be a single-color-temperature flash or a dual-color-temperature flash. The dual-color-temperature flash refers to the combination of a warm light flash and a cold light flash, which can be used for light compensation under different color temperatures.

[0233] The audio circuit 1707 can include a microphone and a speaker. The microphone is used to collect sound waves of the user and the environment, and convert the sound waves into an electrical signal input to the processor 1701 for processing, or input to the radio frequency circuit 1704 to realize voice communication. For the purpose of stereo sound collection or noise reduction, the microphone can be multiple, respectively arranged at different parts of the electronic device 1700. The microphone can also be an array microphone or an omnidirectional collection type microphone. The speaker is used to convert the electrical signal from the processor 1701 or the radio frequency circuit 1704 into sound waves. The speaker can be a traditional diaphragm speaker, or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only can it convert electrical signals into sound waves that humans can hear, but it can also convert electrical signals into sound waves that humans cannot hear for ranging purposes. In some embodiments, the audio circuit 1707 can also include a headphone jack.

[0234] The positioning component 1708 is used to position the current geographic location of the electronic device 1700 to realize navigation or LBS (Location Based Service, location-based service).

[0235] The power supply 1709 is used to supply power to various components in the electronic device 1700. The power supply 1709 can be alternating current, direct current, disposable battery or rechargeable battery. When the power supply 1709 includes a rechargeable battery, the rechargeable battery can be a wired charging battery or a wireless charging battery. The wired charging battery is a battery charged through a wired line, and the wireless charging battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0236] In some embodiments, the electronic device 1700 further includes one or more sensors 1710. The one or more sensors 1710 include but are not limited to: an acceleration sensor 1711, a gyroscope sensor 1712, a pressure sensor 1713, a fingerprint sensor 1714, an optical sensor 1715, and a proximity sensor 1716.

[0237] The acceleration sensor 1711 can detect the acceleration magnitude in three coordinate axes of the coordinate system established by the electronic device 1700. For example, the acceleration sensor 1711 can be used to detect the components of gravitational acceleration in three coordinate axes. The processor 1701 can control the display screen 1705 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 1711. The acceleration sensor 1711 can also be used for gaming or user motion data collection.

[0238] The gyroscope sensor 1712 can detect the body direction and rotation angle of the electronic device 1700, and can collect 3D motions of a user with respect to the electronic device 1700 in cooperation with the acceleration sensor 1711. The processor 1701 can implement the following functions based on the data collected by the gyroscope sensor 1712: motion sensing (e.g., changing a UI according to a tilt operation of the user), image stabilization during photographing, game control, and inertial navigation.

[0239] The pressure sensor 1713 can be disposed at a side bezel of the electronic device 1700 and / or under the display screen 1705. When the pressure sensor 1713 is disposed at the side bezel of the electronic device 1700, a grip signal of a user with respect to the electronic device 1700 can be detected, and left / right hand recognition or a shortcut operation can be performed by the processor 1701 based on the grip signal collected by the pressure sensor 1713. When the pressure sensor 1713 is disposed under the display screen 1705, an operable control on a UI can be controlled by the processor 1701 based on a pressure operation of a user with respect to the display screen 1705. The operable control includes at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0240] The fingerprint sensor 1714 is used to collect a fingerprint of a user, and the identity of the user can be recognized by the processor 1701 based on the fingerprint collected by the fingerprint sensor 1714 or by the fingerprint sensor 1714. When the identity of the user is recognized as a trusted identity, the processor 1701 authorizes the user to perform a related sensitive operation, which includes unlocking a screen, viewing encrypted information, downloading software, payment, and changing a setting, etc. The fingerprint sensor 1714 can be disposed at a front surface, a back surface, or a side surface of the electronic device 1700. When a physical button or a manufacturer's logo is disposed on the electronic device 1700, the fingerprint sensor 1714 can be integrated with the physical button or the manufacturer's logo.

[0241] The optical sensor 1715 is used to collect an ambient light intensity. In an embodiment, the processor 1701 can control the display brightness of the display screen 1705 based on the ambient light intensity collected by the optical sensor 1715. Specifically, when the ambient light intensity is high, the display brightness of the display screen 1705 is increased, and when the ambient light intensity is low, the display brightness of the display screen 1705 is decreased. In another embodiment, the processor 1701 can also dynamically adjust the photographing parameters of the camera assembly 1706 based on the ambient light intensity collected by the optical sensor 1715.

[0242] The proximity sensor 1716, also referred to as a distance sensor, is usually arranged on the front panel of the electronic device 1700. The proximity sensor 1716 is used to collect the distance between the user and the front of the electronic device 1700. In an embodiment, when the proximity sensor 1716 detects that the distance between the user and the front of the electronic device 1700 gradually decreases, the display screen 1705 is switched from the bright screen state to the screen-off state under the control of the processor 1701; when the proximity sensor 1716 detects that the distance between the user and the front of the electronic device 1700 gradually increases, the display screen 1705 is switched from the screen-off state to the bright screen state under the control of the processor 1701.

[0243] Those skilled in the art can understand that the structure shown in the foregoing embodiments is not a limitation on the electronic device 1700, and the electronic device 1700 can include more or fewer components than those shown in the drawings, or combine certain components, or adopt a different component arrangement. Figure 17

[0244] Embodiments of the present application also provide a wheel-legged robot, which includes a processor and a memory, the memory storing at least one instruction, at least one program, a code set or an instruction set, the at least one instruction, the at least one program, the code set or the instruction set being loaded and executed by the processor to implement the motion state control method provided by any of the above method embodiments.

[0245] Embodiments of the present application also provide a computer readable storage medium, which stores at least one instruction, at least one program, a code set or an instruction set, the at least one instruction, the at least one program, the code set or the instruction set being loaded and executed by a processor to implement the motion state control method provided by any of the above method embodiments.

[0246] Embodiments of the present application also provide a computer program product or a computer program, which includes computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to make the computer device execute the motion state control method described in any of the above embodiments.

[0247] ​Optionally, the computer readable storage medium can include a read only memory (ROM), a random access memory (RAM), a solid state disk (SSD), an optical disk, etc. Among them, the random access memory can include a resistance random access memory (ReRAM) and a dynamic random access memory (DRAM). The above embodiment numbers are only for description, not representing the pros and cons of the embodiments.

[0248] Those of ordinary skill in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or can be instructed by a program to complete relevant hardware, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a read only memory, a magnetic disk or an optical disk, etc.

[0249] The above is only an optional embodiment of the present application, and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A control method of a motion state, characterized by, When applied to wheeled-legged robots, the method includes: Obstacle information is obtained, wherein the obstacle information is the information of obstacles located on the movement trajectory of the wheel-legged robot, and the obstacles obstruct the first wheel of the wheel-legged robot; Based on the obstacle information, a reference roll angle is determined, which is used to indicate the lateral tilt angle of the wheeled robot during the preparation phase of crossing the obstacle. The wheeled robot is tilted based on the reference roll angle information; In response to the wheeled robot moving to a position at a target distance corresponding to the obstacle, the first wheel is lifted and adjusted based on the obstacle information; Within the target distance range, with the first wheel raised and the second wheel touching the ground, the wheel-legged robot is driven by the second wheel to move to the location of the obstacle.

2. The method of claim 1, wherein, The tilting of the wheeled robot based on the reference roll angle information includes: Obtain the roll angle information of the wheeled robot; The difference between the roll angle information and the reference roll angle information is determined to obtain the roll angle difference value; Based on the roll angle difference, the first leg corresponding to the first wheel is extended to tilt the wheel-legged robot.

3. The method of claim 2, wherein, The step of extending the first leg corresponding to the first wheel based on the roll angle difference to tilt the wheeled robot includes: Based on the roll angle difference, determine the first wheel leg adjustment data corresponding to the first wheel; Based on the first wheel adjustment data, the first wheel corresponding to the first wheel is extended to tilt the wheel-legged robot.

4. The method of claim 3, wherein, The step of extending the first wheel corresponding to the first wheel based on the first wheel adjustment data to tilt the wheeled robot includes: The joint angle adjustment data of the first wheel leg is determined based on the adjustment data of the first wheel leg; The first wheel leg is extended using the joint angle adjustment data, thereby causing the wheel-legged robot to tilt.

5. The method of claim 4, wherein, The wheeled robot includes a first wheel motor, which is used to adjust the bending degree of the first wheel. The step of extending and adjusting the first wheel leg using the joint angle adjustment data to drive the tilt adjustment of the wheeled robot includes: The joint angle adjustment data is input into the first wheel leg motor; The first wheel motor drives the first wheel to adjust the degree of bending based on the joint angle adjustment data, thereby causing the wheeled robot to tilt.

6. The method according to any one of claims 1 to 5, characterized in that, The obstacle information includes the obstacle height; The step of lifting and adjusting the first wheel based on the obstacle information in response to the wheeled robot moving to a position corresponding to the target distance of the obstacle includes: In response to the wheeled robot moving to a position at a target distance corresponding to the obstacle, the first wheel is raised to a height corresponding to the height of the obstacle, based on the height of the obstacle.

7. The method according to any one of claims 1 to 5, characterized in that, Before adjusting the lifting of the first wheel based on the obstacle information in response to the wheeled robot moving to a position corresponding to the target distance of the obstacle, the method further includes: The target distance is determined based on the relative speed between the wheeled robot and the obstacle, and the current distance between the wheeled robot and the obstacle.

8. The method according to any one of claims 1 to 5, characterized in that, The wheeled robot includes an image acquisition device; The acquisition of obstacle information includes: The image acquisition device acquires road images corresponding to the motion trajectory; The obstacle information is extracted from the road image.

9. The method according to any one of claims 1 to 5, characterized in that, After the wheel-legged robot is driven by the second wheel to move to the location of the obstacle, the process further includes: In response to the roll angle adjustment result of the wheel-legged robot conforming to the reference roll angle information, and the first wheel reaching the location of the obstacle, the reference roll angle information is restored to the initial reference roll angle, which is the specified roll angle of the wheel-legged robot during planar motion.

10. The method of claim 9, wherein, After restoring the reference roll angle information to the initial reference roll angle, the method further includes: In response to the first wheel being located on the top surface of the obstacle, the first wheel of the wheel-legged robot is controlled on the top surface of the obstacle based on the initial reference roll angle, and the second wheel drives the wheel-legged robot to move along the motion trajectory on the road plane.

11. The method of claim 9, wherein, After restoring the reference roll angle information to the initial reference roll angle, the method further includes: In response to the first wheel passing the obstacle, the position of the first wheel is adjusted for landing based on the initial reference roll angle.

12. The method according to any one of claims 1 to 5, characterized in that, The step of determining the reference roll angle information based on the obstacle information includes: Based on the obstacle information, the strategy selection for the wheeled robot to pass through the obstacle is determined, and the strategy selection is obtained from the overtaking strategy and the detour strategy; In response to the strategy selection being the overtaking strategy, the reference roll angle information of the wheeled robot is determined based on the obstacle information.

13. A motion state control device characterized by comprising: The device, used in wheeled-legged robots, includes: An acquisition module is used to acquire obstacle information, wherein the obstacle information is information about obstacles located on the movement trajectory of the wheel-legged robot, and the obstacles obstruct the first wheel of the wheel-legged robot; A determination module is used to determine reference roll angle information based on the obstacle information, wherein the reference roll angle information is used to indicate the lateral tilt angle of the wheel-legged robot during the preparation phase of crossing the obstacle; The control module is used to respond to the wheeled robot moving to a position corresponding to the target distance of the obstacle, to lift and adjust the first wheel based on the obstacle information, and to tilt the wheeled robot based on the reference roll angle information; The control module is also used to drive the wheeled robot to the location of the obstacle within the target distance range, with the first wheel raised and the second wheel touching the ground.

14. A wheel-legged robot, characterized by, The wheeled robot includes a processor and a memory, the memory storing at least one program, which is loaded and executed by the processor to implement the motion state control method as described in any one of claims 1 to 12.

15. A computer readable storage medium, characterized in that, The storage medium stores at least one program, and the at least one program is loaded and executed by the processor to implement the motion state control method according to any one of claims 1 to 12.

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