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

Abstract

The present application discloses a motion state control method, device, wheel-legged robot, and storage medium, relating to the field of robot control. The method comprises: obtaining trajectory planning information; determining reference motion state data based on the trajectory planning information; determining a torque for controlling the wheel-legged robot based on the reference motion state data; and controlling the wheel-legged robot to move along a target motion trajectory using the torque. After obtaining the trajectory planning information of the wheel-legged robot, the reference motion state data when the wheel-legged robot moves in accordance with the trajectory planning information is first determined based on the trajectory planning information, thereby determining a torque for controlling the wheel-legged robot based on the reference motion state data and controlling the wheel-legged robot to move along the target motion trajectory planned by the trajectory planning information, thereby improving the flexibility of controlling the wheel-legged robot to move along the trajectory and avoiding the control of the wheel-legged robot being limited by balance factors.

Description

Technical Field

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

[0002] A wheeled robot is a robot structure that uses a wheel structure to control the motion of the robot body. 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 when the wheel structure arrangement itself is unstable; a legged robot is a robot structure that uses a leg structure to control the motion of the robot body and has strong terrain adaptability.

[0003] A wheel-legged robot is a robot structure that controls the motion of the robot body through its leg structure. It combines the advantages of a wheeled robot and a legged robot. It 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.

[0004] In related technologies, since the balance of wheeled-legged robots needs to be taken into account while controlling their movement, wheeled robots are usually used in short-distance linear motion scenarios. However, for some complex routes, such as S-curves and circles, it is difficult to implement, and the application scenarios of wheeled robots are relatively limited. Summary of the Invention

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

[0006] On the one hand, a motion state control method is provided, which is applied to a wheel-legged robot, and the method includes:

[0007] Acquiring trajectory planning information, where the trajectory planning information is used to represent a target motion trajectory of the wheel-legged robot;

[0008] Determining reference motion state data based on the trajectory planning information, wherein the reference motion state data is used to represent the motion state of the wheel-legged robot when it moves along the target motion trajectory;

[0009] Determining a torque for controlling the wheel-legged robot based on the reference motion state data;

[0010] adjusting the leg structure of the wheel-legged robot based on the trajectory planning information;

[0011] The wheel-legged robot is controlled to move along the target motion trajectory using the adjusted leg structure and the torque.

[0012] In another aspect, a motion state control device is provided, the device comprising:

[0013] an acquisition module, configured to acquire trajectory planning information, wherein the trajectory planning information is used to represent a target motion trajectory of the wheel-legged robot;

[0014] a determination module, configured to determine reference motion state data based on the trajectory planning information, wherein the reference motion state data is used to represent the motion state of the wheel-legged robot when it moves along the target motion trajectory;

[0015] The determining module is further configured to determine a torque for controlling the wheel-legged robot based on the reference motion state data;

[0016] A control module, configured to adjust the leg structure of the wheel-legged robot based on the trajectory planning information;

[0017] The control module is also used to control the wheel-legged robot to move along the target motion trajectory using the adjusted leg structure and the torque.

[0018] On the other hand, a wheel-legged robot is provided, which includes a processor and a memory, wherein at least one program is stored in the memory, and the at least one program is loaded and executed by the processor to implement a motion state control method as described in any of the above embodiments of the present application.

[0019] On the other hand, a computer-readable storage medium is provided, in which at least one instruction, at least one program, a code set or an instruction set is stored. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement a motion state control method as described in any of the above-mentioned embodiments of the present application.

[0020] In another aspect, a computer program product or computer program is provided, the computer program product or computer program including 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 executes the computer instructions, causing the computer device to perform the motion state control method described in any of the above embodiments.

[0021] The beneficial effects of the technical solutions provided in the embodiments of the present application include at least:

[0022] After obtaining the trajectory planning information of the wheel-legged robot, the reference motion state data of the wheel-legged robot when it moves in accordance with the trajectory planning information is first determined according to the trajectory planning information, so as to determine the torque for controlling the wheel-legged robot on the basis of the reference motion state data and control the wheel-legged robot to move according to the target motion trajectory planned by the trajectory planning information, and coordinate the movement of the wheel-legged robot during the movement by adjusting the leg structure, thereby improving the flexibility of controlling the wheel-legged robot to move along the trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] Figure 1 is a schematic structural diagram of a wheel-legged robot provided by an exemplary embodiment of the present application;

[0025] Figure 2 This is a schematic diagram showing the performance of a wheel-legged robot at different heights provided by an exemplary embodiment of the present application;

[0026] Figure 3 is a schematic diagram of two sets of leg structures at different heights provided by an exemplary embodiment of the present application;

[0027] Figure 4 This is a schematic diagram of deriving joint angle information by simulating a cross section of a wheel-legged robot provided by an exemplary embodiment of the present application;

[0028] Figure 5 is a schematic diagram of three spatial angles provided by an exemplary embodiment of the present application;

[0029] Figure 6 This is a schematic diagram of pitch direction balance control provided by an exemplary embodiment of the present application;

[0030] Figure 7 This is a schematic diagram of roll direction balance control provided by an exemplary embodiment of the present application;

[0031] Figure 8 This is a schematic diagram of yaw direction balance control provided by an exemplary embodiment of the present application;

[0032] Figure 9 is a flow chart of a method for controlling a motion state provided by an exemplary embodiment of the present application;

[0033] Figure 10is based on Figure 9 A schematic diagram of trajectory planning information provided by the illustrated embodiment;

[0034] Figure 11 is a flow chart of a method for controlling a motion state provided by another exemplary embodiment of the present application;

[0035] Figure 12 is a flow chart of a method for controlling a motion state provided by another exemplary embodiment of the present application;

[0036] Figure 13 is based on Figure 12 A schematic diagram of a method for determining wheel-leg variation provided by the illustrated embodiment;

[0037] Figure 14 This is a schematic diagram of an overall solution provided by an exemplary embodiment of the present application;

[0038] Figure 15 is a schematic diagram of a wheel-legged robot performing S-curve motion provided by an exemplary embodiment of the present application;

[0039] Figure 16 1. A linear velocity curve and a yaw angular velocity curve of a wheel-legged robot during an S-turn provided by an exemplary embodiment of the present application;

[0040] Figure 17 is a structural block diagram of a motion state control device provided by an exemplary embodiment of the present application;

[0041] Figure 18 It is a structural block diagram of a terminal provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0043] First, the terms involved in the embodiments of this application are explained:

[0044] Wheel-legged robots: Wheel-legged robots use wheel-legged structures to control the robot's main motion. They combine the advantages of wheeled and legged robots, offering the high efficiency of wheeled robots while inheriting the strong terrain adaptability of legged robots, allowing them to overcome uneven terrain and obstacles. However, since wheel-legged robots only have contact points with the ground, balance control can be a problem if the wheeled structure itself is unstable.

[0045] In this embodiment of the present application, the wheel-legged robot is implemented as a wheeled bipedal robot as an example. That is, the wheeled bipedal robot includes two wheels for movement, and the two wheels are respectively connected to the leg structure, and the leg structure is connected to the robot body, so that the two wheels drive the robot body to achieve motion control. However, it should be understood that the wheel-legged robot in this application is not limited to the above structure. Any wheel-legged robot should be understood as any robot that includes a wheeled structure.

[0046] Indicative, Figure 1 This is a schematic structural diagram of a wheel-legged robot provided by an exemplary embodiment of the present application. Figure 1 As shown, the wheel-legged robot 100 includes a main body portion 110 and a wheel-leg portion 120;

[0047] The main body 110 is connected to the wheel leg part 120, and the wheel leg part 120 includes two wheels 121 and a leg structure 122 for connecting the wheels 121 and the main body 110. Figure 1 As shown, the wheel-legged robot 100 includes a total of four leg structures 122, two of which are connected to a wheel 121 respectively. Schematically, there are leg structure A, leg structure B, leg structure C and leg structure D, and leg structure A and leg structure B are connected to the first wheel, and leg structure C and leg structure D are connected to the second wheel. Among them, leg structure A, leg structure B and the first wheel, as well as leg structure C, leg structure D and the second wheel constitute a two-leg planar parallel structure of the wheel-legged robot. The parallel leg has five rotational joints, each with two translational degrees of freedom in the lateral and vertical directions. Compared with the serial mechanism, the parallel mechanism has the characteristics of compact structure, high rigidity and strong load-bearing capacity. Therefore, the robot can jump higher and overcome obstacles flexibly.

[0048] Optionally, the leg structure 122 includes a calf segment 1221 and a thigh segment 1222 , the calf segment 1221 and the thigh segment 1222 are connected via a rotational joint, and the calf segment 1221 and the wheel 121 are also connected via a rotational joint.

[0049] The main body 110 is provided with four motors corresponding to the four leg structures 122. The four motors are used to control the bending and straightening of the leg structures 122. In some embodiments, the leg structures 122 are connected to the main body 110 through a rotating joint. Schematically, as shown in FIG. Figure 1As shown, when the motor drives the rotary joint to rotate clockwise, the leg structure 122 is controlled to bend; when the motor drives the rotary joint to rotate counterclockwise, the leg structure 122 is controlled to straighten. (The two sets of leg structures 122 can be driven by the rotary joint in the same or different ways.) In other words, the relationship between the clockwise and counterclockwise rotation modes and the bending and straightening control modes is the same or different.

[0050] The bending and straightening of the leg structure 122 (i.e., the relative positional relationship between the calf segment 1221 and the thigh segment 1222) is used to control the height of the wheel-legged robot 100. That is, when the leg structure 122 tends to bend, the height of the wheel-legged robot 100 decreases, and when the leg structure 122 tends to straighten, the height of the wheel-legged robot 100 increases. Figure 2 , Figure 1 The leg structure 122 shown is a case where the degree of bending is large. In this case, the height of the wheel-legged robot 100 is low. Figure 2 In the figure, the bending degree of the leg structure 122 is relatively Figure 1 The leg structure 122 is smaller. At this bending degree, the height of the wheel-legged robot 100 is higher. In some embodiments, the control inputs of the four motors are independent. Schematically, the leg structure corresponding to the first wheel is connected to the first motor and the second motor, and the leg structure corresponding to the second wheel is connected to the third motor and the fourth motor. Then, according to the control of the first motor and the second motor, the leg structure 122 corresponding to the first wheel is a first length. According to the control of the third motor and the fourth motor, the leg structure 122 corresponding to the second wheel is a second length. Schematically, Figure 3 FIG. 1 is a schematic diagram of two sets of leg structures at different heights provided by an exemplary embodiment of the present application. Figure 3 As shown, the first wheel 1211 is lifted up, while the second wheel 1212 is on the ground.

[0051] The wheel 121 is a driving wheel, that is, the wheel 121 is also connected to a motor. The wheel 121 can actively rotate after being driven by the motor, thereby realizing 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 stand still.

[0052] In some embodiments, the two wheels 121 are controlled independently, that is, the torques applied to the two wheels 121 can be the same or different.

[0053] Based on the structures of the main body part 110 and the wheel-leg part 120 in the wheel-legged robot 100, the wheel-legged robot 100 can be approximated as a structure of an inverted pendulum of a small cart.

[0054] In an embodiment of the present application, the motor that controls the leg structure outputs a control signal for the bending angle of the leg structure based on the input joint angle information. Optionally, the joint angle information is determined based on the position coordinates of the wheels to which the leg structure is connected.

[0055] For illustration, please refer to Figure 4 , which shows a schematic diagram of deriving joint angle information by simulating the cross section of a wheel-legged robot, as shown in Figure 4 As shown, an XZ coordinate system is constructed for the cross section of the wheel-legged robot, where the origin is located at the midpoint between points x1 and x5. Taking the distance between x1 and x5 as l0 as an example, the coordinate of x1 is (0.5l0, 0) and the coordinate of x5 is (-0.5l0, 0). The coordinates of wheel 400 are known to be (x3, z3). The purpose is to calculate joint angle information, including joint angle 410, joint angle 420, joint angle 430, and joint angle 440.

[0056] Since the coordinates of the wheel 400 are known, and x1 and x5 are known, the lengths of the line segments l5 and l6 can be calculated. Schematically, the calculation formulas are shown in the following formulas 1 and 2:

[0057] Formula 1:

[0058] Formula 2:

[0059] Since the lengths of the wheel legs l1 and l2 are known, the joint angle 410 can be obtained according to the cosine theorem, with θ 11 The calculation formula is as follows:

[0060] Formula 3:

[0061] Similarly, joint angles 420 , 430 , and 440 can be obtained.

[0062] Based on the calculated joint angle input to the motor, the motor can be used to control the leg structure to rotate to the corresponding joint angle, thereby controlling the wheel to reach the specified position (x3, z3).

[0063] In the balance feedback control of the wheel-legged robot, in the embodiment of the present application, balance is mainly performed through three spatial angles: pitch angle, yaw angle and roll angle.

[0064] Indicative, Figure 5 is a schematic diagram of three spatial angles provided by an exemplary embodiment of the present application, such as Figure 5As shown, a right-handed Cartesian coordinate system 510 of a three-dimensional control is established for the wheel-legged robot 500, wherein the x-axis is the coordinate axis along the forward direction of the wheel-legged robot 500, corresponding to the roll angle roll, the y-axis is the coordinate axis along the direction of connection of the two wheels of the wheel-legged robot 500, corresponding to the pitch angle pitch, and the z-axis is the coordinate axis in the vertical upward direction, corresponding to the yaw angle yaw.

[0065] The balance control in three spatial angle directions is explained separately:

[0066] Balance control in the pitch direction:

[0067] The pitch angle represents the swing amplitude of the wheel-legged robot in the forward direction. In other words, the pitch angle represents the angle by which the wheel-legged robot sways back and forth in the direction of wheel rotation. This is due to the single point of contact between each wheel and the moving surface, and the lateral arrangement of the wheels. Pitch control utilizes multiple closed-loop proportional-integral-derivative (PID) controllers. The wheel-legged robot is projected onto a two-dimensional plane, forming a simplified two-dimensional model. X represents the lateral distance traveled by the wheel center within the simplified two-dimensional model. Ideally, X equals the product of the wheel rotation angle and the wheel radius. Indicates the moving speed of the wheel center, represents the reference speed of the wheel center, θ represents the pitch angle of the wheel-legged robot, represents the pitch angular velocity of the wheel-legged robot, θ ref Indicates the pitch angle reference value of the wheel-legged robot, represents the pitch angular velocity reference value of the wheel-legged robot, and τ represents the torque input to the wheel motor of the wheel-legged robot. and Collected by sensors.

[0068] For illustration, please refer to Figure 6 , first obtain the reference speed of the wheel center movement That is, the speed that the wheel needs to reach according to the expected movement, and the moving speed of the wheel center obtained by the sensor. After subtracting the reference speed from the moving speed, the result is input into the PID controller 610, and the PID controller output is used to obtain θ ref , and θ ref After subtracting θ, the pitch angle difference is obtained, that is, the difference between the current pitch angle and the reference pitch angle. The pitch angle difference is input into the PID controller 620 to obtain Will and The subtraction result is input into the PID controller 630, and the output τ is used to control the balance of the wheels of the wheel-legged robot.

[0069] Balance control in roll direction:

[0070] Optionally, the roll angle represents the lateral swing amplitude of the wheel-legged robot caused by inconsistent leg lengths or heights. The ideal angle is then input into the PID controller, and the leg length of the wheel-legged robot is controlled based on the difference between the current roll angle and the ideal angle, thereby maintaining the same height at which the two legs supporting the main body of the wheel-legged robot reach. Typically, the ideal angle is 0, and the PID controller calculates the required leg length change at the current roll angle. The joint angle change is then calculated based on the required leg length change, thereby controlling the joint angles of the leg structure.

[0071] For illustration, please refer to Figure 7 , the ideal angle and roll angle The difference is input to the PID controller 710, which outputs the leg length change, thereby determining the change in joint angle based on the leg length change, and inputting the change in joint angle to the motor that controls the leg structure to control the joint angle.

[0072] Balance control in yaw direction:

[0073] The angle in the yaw direction represents the angle generated by the wheel-legged robot during the rotation process. In this embodiment, φ is used to represent the yaw angle of the wheel-legged robot. represents the yaw angular velocity of the wheel-legged robot, φ ref represents the yaw angle reference value of the wheel-legged robot, Indicates the reference value of the yaw angular velocity of the wheel-legged robot. For schematic illustration, please refer to Figure 8 ,Will and The difference is input into the PID controller 810, and the output is the torque increment Δτ, which is applied to the wheel motor to change the yaw direction angle of the wheel-legged robot.

[0074] In combination with the above content, the motion state control method provided by the embodiment of the present application is introduced. Figure 9 This is a flow chart of a motion state control method provided by an embodiment of the present application, which can be implemented in a microprocessor of a wheel-legged robot. Figure 9 As shown, the method includes:

[0075] Step 901: Acquire trajectory planning information, where the trajectory planning information is used to represent the target motion trajectory of the wheel-legged robot.

[0076] In some embodiments, the trajectory planning information is pre-set information; or, the trajectory planning information is generated after the wheel-legged robot collects road information in real time.

[0077] Schematically, when the trajectory planning information is pre-set information, the trajectory of the wheel-legged robot is set according to the road information, and the trajectory is input into the memory of the wheel-legged robot to generate trajectory planning information, and the wheel-legged robot moves according to the set trajectory according to the trajectory planning information; when the trajectory planning information is generated by the wheel-legged robot collecting road information in real time, the wheel-legged robot includes a road scanning device, schematically, the wheel-legged robot includes a camera for collecting images of the road, and performing road planning based on the collected images.

[0078] Indicative, such as Figure 10 As shown, the trajectory planning information is pre-set as an example. Figure 10 The trajectory planning of the wheeled robot 1010 is shown. The scene includes obstacles. According to the planning method of bypassing the obstacles, the path 1020 of the wheel-legged robot 1010 is set to move in an S curve around the obstacles. The information of the path 1020 is the trajectory planning information of the wheel-legged robot 1010.

[0079] Step 902 : determining reference motion state data based on the trajectory planning information, where the reference motion state data is used to represent the motion state of the wheel-legged robot when it moves along the target motion trajectory.

[0080] In some embodiments, the reference motion state data is used to indicate the requirements that the motion state of the wheel-legged robot needs to meet when it moves in a manner that conforms to the target motion trajectory. That is, after determining the reference motion state data, the wheel-legged robot needs to adjust the current motion state based on the reference motion state data.

[0081] In some embodiments, the reference motion state data includes reference speed information, reference yaw angle information, reference motion curvature radius information, etc.

[0082] In some embodiments, the reference motion state data is calculated based on the trajectory planning information, or the reference motion state data is pre-stored based on the trajectory planning information. That is, when setting the motion trajectory of the wheel-legged robot, the motion state data at a specified position on the motion trajectory is pre-set, and the reference motion state data corresponding to the specified position is obtained. The reference motion state data is then stored in association with the trajectory planning information. Thus, when the wheel-legged robot moves to the specified position, the reference motion state data can be obtained from the stored data.

[0083] Illustratively, the reference motion state data may be obtained in at least one of the following ways:

[0084] First, a control operation of the remote controller is received, and reference motion state data is determined according to the control operation of the remote controller.

[0085] Among them, the remote control can control the movement speed, movement direction, movement mode, etc. of the wheel-legged robot, and determine the movement state changes of the wheel-legged robot according to the control operation of the remote control, thereby determining the reference movement state data.

[0086] Second, read the data file and obtain the reference motion state data of the current wheel-legged robot from the data file.

[0087] That is, the reference motion state data of the wheel-legged robot at different positions are pre-set and stored in a data file, and the corresponding reference motion state data is determined according to the current position of the wheel-legged robot.

[0088] Third, collect visual information of the wheel-legged robot and generate reference motion state data based on the visual information.

[0089] That is, a camera is provided on the wheel-legged robot, which collects road information of the wheel-legged robot on the planned trajectory, and calculates reference motion state data for the next movement based on the road information.

[0090] It is worth noting that the above-mentioned method of obtaining reference motion state data is only an illustrative example, and the embodiment of the present application does not limit the method of obtaining reference motion state data.

[0091] Step 903: Determine the torque for controlling the wheel-legged robot based on the reference motion state data.

[0092] In some embodiments, the reference motion state data includes reference speed information, and the pitch angle information of the wheel-legged robot is obtained. The pitch angle information represents the angle of the wheel-legged robot in the forward and backward directions, that is, the angle of the wheel-legged robot pitching in the forward direction or tilting in the backward direction under the control of the wheels. The balance control torque for controlling the wheel-legged robot is determined based on the reference speed information and the pitch angle information. The balance control torque refers to the torque used to keep the wheel-legged robot in a balanced state, and the torque for controlling the wheel-legged robot is determined based on the balance control torque. The balanced state refers to the state in which the wheel-legged robot maintains balance in the pitch angle direction, that is, in the balanced state, the wheel-legged robot does not have a tendency to tip forward or backward. Among them, when the wheel-legged robot remains stationary, the balanced state refers to the state in which the wheel-legged robot remains stable and has no tendency to tip forward or backward; when the wheel-legged robot is moving, the balanced state refers to the state in which the wheel-legged robot moves in a balanced manner following the rotation of the wheels, wherein the main part of the wheel-legged robot is supported by the wheel-leg part to maintain an upright state, and there is no tendency to tip forward or backward.

[0093] In some embodiments, when the wheel-legged robot is controlled to move in a straight line, the balancing control torque is directly input into the wheel control motor to control the rotation of the wheel, thereby controlling the movement of the wheel-legged robot; in another embodiment, when the wheel-legged robot is controlled to move on a curved trajectory, different torques are applied to the motors corresponding to the two wheels of the wheel-legged robot, thereby achieving a fast travel speed for one wheel and a slow travel speed for the other wheel, thereby achieving curved travel of the wheel-legged robot, wherein after determining the reference yaw angle information according to the curved trajectory, the incremental torque applied to the motors corresponding to different wheels is determined based on the reference yaw angle information.

[0094] Step 904: Adjust the leg structure of the wheel-legged robot based on the trajectory planning information.

[0095] In some embodiments, the degree of curvature of the wheel-legged robot's two wheel legs is adjusted based on the trajectory planning information, and the degree of curvature of the wheel-legged robot's wheel legs is related to the length of the wheel legs. Optionally, the greater the degree of curvature of the wheel-legged robot's wheel legs, the correspondingly shorter the wheel legs.

[0096] In this embodiment, when the wheel-legged robot moves along the trajectory planning information, it needs to cooperate accordingly through the leg structure. Schematically, when the wheel-legged robot turns along the S curve, the wheel-legged robot needs to control the lengths of the two wheel legs to be different to cooperate with the centrifugal force during the S curve turning process; when the wheel-legged robot moves along a straight line, the wheel-legged robot needs to control the lengths of the two wheel legs to be consistent to maintain the lateral balance movement of the wheel-legged robot.

[0097] Step 905: Control the wheel-legged robot to move along the target motion trajectory using the adjusted leg structure and torque.

[0098] In some embodiments, the wheel-legged robot includes a first wheel and a second wheel, wherein the first wheel and the second wheel are respectively arranged on both sides of the wheel-legged robot, the first wheel is driven and controlled by a first wheel motor, and the second wheel is driven and controlled by a second wheel motor. When determining the torque for controlling the wheel-legged robot, the first torque for driving the first wheel motor and the second torque for driving the second wheel motor are determined.

[0099] The first torque is input into the first wheel motor, which drives the first wheel to rotate. The second torque is input into the second wheel motor, which drives the second wheel to rotate. Thus, the wheel-legged robot moves along the target trajectory based on the rotation of the first and second wheels.

[0100] To sum up, the method provided in the embodiment of the present application, after obtaining the trajectory planning information of the wheel-legged robot, first determines the reference motion state data of the wheel-legged robot when it moves in accordance with the trajectory planning information according to the trajectory planning information, and then determines the torque for controlling the wheel-legged robot on the basis of the reference motion state data and controls the wheel-legged robot to move according to the target motion trajectory planned by the trajectory planning information, and coordinates the movement of the wheel-legged robot during the movement process through the adjustment of the leg structure, thereby improving the flexibility of controlling the wheel-legged robot to move along the trajectory.

[0101] In some embodiments, the reference motion state data also includes reference yaw angle information for controlling the wheel-legged robot to turn. Figure 11 This is a flow chart of a motion state control method provided by an embodiment of the present application, which can be implemented in a microprocessor of a wheel-legged robot. Figure 11 As shown, the method includes:

[0102] Step 1101: Acquire trajectory planning information, where the trajectory planning information is used to represent the target motion trajectory of the wheel-legged robot.

[0103] In some embodiments, the trajectory planning information is pre-set information; or, the trajectory planning information is generated after the wheel-legged robot collects road information in real time.

[0104] Step 1102 : determining reference motion state data based on the trajectory planning information, where the reference motion state data is used to represent the motion state of the wheel-legged robot when it moves along the target motion trajectory.

[0105] In some embodiments, the reference motion state data is used to indicate the requirements that the motion state of the wheel-legged robot needs to meet when it moves in a manner that conforms to the target motion trajectory. That is, after determining the reference motion state data, the wheel-legged robot needs to adjust the current motion state based on the reference motion state data.

[0106] In some embodiments, the reference motion state data includes reference speed information, reference yaw angle information, reference motion curvature radius information, etc.

[0107] Step 1103: Acquire the pitch angle information of the wheel-legged robot.

[0108] Optionally, the pitch angle information of the wheel-legged robot is acquired by collecting an inertial measurement unit (IMU).

[0109] The pitch angle information indicates the angle of the wheel-legged robot in the forward and backward directions.

[0110] Step 1104 : Determine a balancing control torque for controlling the wheel-legged robot based on the reference speed information and the pitch angle information.

[0111] In some embodiments, the balance control torque for controlling the wheel-legged robot is determined by combining the above-mentioned pitch direction balance control with the reference speed information and the pitch angle information. That is, the reference speed information of the wheel center movement is obtained, and the moving speed of the wheel center is obtained by the sensor. After subtracting the reference speed from the moving speed, the result is input into the PID controller output to obtain the pitch angle reference information. After subtracting the pitch angle reference information from the pitch angle information, the pitch angle difference is obtained, that is, the difference between the current pitch angle and the reference pitch angle. The pitch angle difference is input into the PID controller to obtain the pitch angular velocity reference information. The result of subtracting the pitch angular velocity reference information from the pitch angular velocity is input into the PID controller to output the balancing control torque for controlling the wheel-legged robot.

[0112] Step 1105: Obtain the yaw angle information of the wheel-legged robot.

[0113] In some embodiments, the yaw angle information of the wheel-legged robot is acquired by an inertial sensor. The yaw angle information represents the angle information of the wheel-legged robot in the direction of the vertical rotation axis.

[0114] Step 1106: Determine the incremental torque for controlling the wheel-legged robot based on the reference yaw angle information and the yaw angle information.

[0115] Incremental torque refers to the torque used to control the rotation of the wheel-legged robot.

[0116] In some embodiments, the reference yaw angle information includes a reference yaw angle and a reference yaw angle velocity.

[0117] In some embodiments, the incremental torque for controlling the wheel-legged robot is determined by the above-mentioned yaw direction balance control. Schematically, the difference between the yaw angular velocity reference value and the yaw angular velocity is input into a PID controller, and the torque increment Δτ is output.

[0118] Step 1107: Combine the balancing torque and the incremental torque to obtain the torque for controlling the wheel-legged robot.

[0119] In some embodiments, the wheel-legged robot includes a first wheel and a second wheel. Based on the trajectory planning information, the balancing torque and the incremental torque are combined through a first operation method to obtain a first torque for controlling the first wheel of the wheel-legged robot. Based on the trajectory planning information, the balancing torque and the incremental torque are combined through a second operation method to obtain a second torque for controlling the second wheel of the wheel-legged robot.

[0120] Step 1108: Use torque to control the wheel-legged robot to move along the target motion trajectory.

[0121] In one embodiment, the wheel-legged robot includes wheel motors, which are used to control the wheel parts of the wheel-legged robot.

[0122] In some embodiments, the wheel-legged robot includes a first wheel and a second wheel. The first wheel is controlled and driven by a first wheel motor, and the second wheel is controlled and driven by a second wheel motor. The first torque is input into the first wheel motor, and the first wheel is controlled by the first wheel motor. The second torque is input into the second wheel motor, and the second wheel is controlled by the second wheel motor.

[0123] Schematically, when the trajectory planning information indicates that the current wheel-legged robot needs to turn right, the distance that the left wheel needs to move in the same time period is greater than the distance that the right wheel needs to move in the same time period. For the left wheel, the sum of the balancing torque and the incremental torque is used as the torque input to the wheel motor, and for the right wheel, the difference between the balancing torque and the incremental torque is used as the torque input to the right wheel motor.

[0124] To sum up, the method provided in the embodiment of the present application, after obtaining the trajectory planning information of the wheel-legged robot, first determines the reference motion state data of the wheel-legged robot when it moves in accordance with the trajectory planning information according to the trajectory planning information, and then determines the torque for controlling the wheel-legged robot on the basis of the reference motion state data and controls the wheel-legged robot to move according to the target motion trajectory planned by the trajectory planning information, and coordinates the movement of the wheel-legged robot during the movement process through the adjustment of the leg structure, thereby improving the flexibility of controlling the wheel-legged robot to move along the trajectory.

[0125] The method provided in this embodiment determines the incremental torque of the wheel through the yaw angle information for complex trajectory paths such as S-curves, and thus combines the incremental torque with the balance torque to control the wheels of the wheel-legged robot. While ensuring that the wheel-legged robot is in a balanced state, the wheel-legged robot is controlled to turn or circle, thereby improving the diversity of control over the wheel-legged robot.

[0126] In some embodiments, since the wheel-legged robot has inertia during turning, which may affect the stability of the wheel-legged robot, a certain roll angle is designed to reduce the impact of inertia on the stability of the wheel-legged robot during turning. Figure 12 FIG. 1 is a flow chart of a motion state control method provided by another embodiment of the present application, which can be implemented in a microprocessor of a wheel-legged robot. Figure 12 As shown, the method includes:

[0127] Step 1201: Acquire trajectory planning information, where the trajectory planning information is used to represent the target motion trajectory of the wheel-legged robot.

[0128] In some embodiments, the trajectory planning information is pre-set information; or, the trajectory planning information is generated after the wheel-legged robot collects road information in real time.

[0129] Step 1202 : determining robot posture data based on the trajectory planning information, where the robot posture data is used to represent the structural posture of the wheel-legged robot when it moves along the target motion trajectory.

[0130] In some embodiments, the wheel-legged robot includes wheel legs, which are used to connect wheels and a vehicle body. The robot posture data includes wheel-leg adjustment data, that is, the wheel-leg adjustment data is determined based on trajectory planning information.

[0131] In some embodiments, the wheel-leg adjustment data is calculated based on the principle of centrifugal force. In some embodiments, when a wheel-legged robot needs to perform a turning motion according to trajectory planning information, a certain centrifugal force is generated due to inertia. When the centrifugal force is large, it is easy to cause the wheel-legged robot to deviate from the target motion trajectory. Therefore, in some embodiments of the present application, the wheel-legged robot is controlled to generate a roll angle in a certain direction when turning, thereby reducing the impact of centrifugal force on the balance of the wheel-legged robot.

[0132] In some embodiments, the roll angle that the wheel-legged robot needs to generate is first determined based on the trajectory planning information, that is, the wheel-leg adjustment data of the wheel-legged robot is determined based on a given roll angle.

[0133] Optionally, the roll angle determined according to the trajectory planning information is a value within a preset roll angle range, thereby avoiding imbalance problems caused by excessive control due to the roll angle exceeding the preset roll angle range.

[0134] In some embodiments, when a roll angle is given, it is necessary to control the wheel legs corresponding to the two wheels to extend and contract, and the change amount of contraction and extension is the same. Schematically, the change amount of the wheel legs is as follows: Figure 13 The plane projection of the wheel-legged robot 1300 in the tilted state is shown as Figure 13 As shown, in the triangle ACD, the length of DC is 0.5l0, and the calculation formula of the wheel leg variable length AC is shown in the following formula 4:

[0135] Formula 4:

[0136] Among them, Δl represents the length change of the wheel leg, Indicates the reference roll angle of the wheel-legged robot.

[0137] In some embodiments, when the wheel-legged robot moves in an S-curve, due to the roll angle tilt of the body, the robot generates centrifugal force while moving along the S-curve. The magnitude of the centrifugal force is related to the horizontal speed v. In order to maintain balance, the body needs to be tilted so that gravity can generate a component to balance the magnitude of the centrifugal force. The roll angle corresponding to the tilted body is The relationship between it and the horizontal velocity v is shown in the following formula 5:

[0138] Formula 5:

[0139] Here, m represents the weight of the wheel-legged robot, and R represents the turning radius of the S-curve. Since the curvature of an S-curve can vary, it can be viewed as an irregular curve formed by connecting countless arcs of varying curvature. R represents the turning radius of the arc on the S-curve closest to the wheel at the current moment. Based on the horizontal velocity and turning radius of the wheel-legged robot, the wheel-leg adjustment data for adjusting the robot's wheels and legs can be calculated, i.e., the amount of change in the robot's wheels and legs.

[0140] Among them, the change of the wheel legs of the wheel-legged robot is divided into the following two cases:

[0141] The first type, wheel-legged robots, produce a smaller roll angle.

[0142] Schematically, the roll angle generated by the wheel-legged robot is less than (or equal to) a preset angle threshold.

[0143] When the roll angle is small, The calculation of the wheel leg change is shown in the following formula 6:

[0144] Formula 6:

[0145] The second type, wheel-legged robots, produce a larger roll angle.

[0146] Schematically, the rolling angle generated by the wheel-legged robot is greater than (or equal to) a preset angle threshold.

[0147] When the roll angle is large, the calculation of the wheel leg change is shown in the following formulas 7 and 8:

[0148] Formula 7:

[0149] Formula 8:

[0150] Step 1203: Adjust the posture of the leg structure of the wheel-legged robot based on the robot posture data.

[0151] In some embodiments, the robot posture data includes wheel-leg adjustment data, that is, the wheel-leg change amount. Taking the wheel-leg change amount as Δl as an example, according to the turning direction of the current S-curve, one wheel leg is extended and the other wheel leg is shortened by the wheel-leg change amount.

[0152] Schematically, if the current S-curve indicates that the wheel-legged robot turns right, the wheel-legged robot generates a centrifugal force toward the left, and the wheel-leg corresponding to the left wheel is extended according to the wheel-leg change, and the wheel-leg corresponding to the right wheel is shortened according to the wheel-leg change.

[0153] In some embodiments, the position coordinates of the wheel after adjustment are determined based on the change in the wheel leg, and the joint angle of the wheel leg is calculated based on the adjusted position coordinates, and the joint angle is input into the motor that controls the wheel leg to achieve adjustment of the wheel leg.

[0154] Specifically, the wheel-legged robot includes a wheel-leg motor, which is used to control the bending of the wheel legs. The wheel-leg adjustment data determines the wheel leg's bending angle data, which is input into the wheel-leg motor. The wheel-leg motor then controls the leg structure's bending. In some embodiments, the wheel-legged robot's leg structure includes a small wheel leg and a large wheel leg, wherein the large wheel leg is connected to the wheel-leg motor, and the bending angle data represents the angle between the large wheel leg and the main body. Specifically, the wheel-leg motor controls the large wheel leg based on the bending angle data, thereby controlling the bending of the entire leg structure.

[0155] Among them, the method of determining the bending angle data based on the wheel-leg adjustment data has been described in detail in the above-mentioned joint angle information calculation process, and will not be repeated here.

[0156] To sum up, the method provided in the embodiment of the present application, after obtaining the trajectory planning information of the wheel-legged robot, first determines the reference motion state data of the wheel-legged robot when it moves in accordance with the trajectory planning information according to the trajectory planning information, and then determines the torque for controlling the wheel-legged robot on the basis of the reference motion state data and controls the wheel-legged robot to move according to the target motion trajectory planned by the trajectory planning information, and coordinates the movement of the wheel-legged robot during the movement process through the adjustment of the leg structure, thereby improving the flexibility of controlling the wheel-legged robot to move along the trajectory.

[0157] The method provided in this embodiment is that when the wheel-legged robot moves along an S-curve, the centrifugal force will affect the balance of the wheel-legged robot. In this embodiment, the roll angle of the wheel-legged robot is actively controlled to reduce the imbalance problem caused by the centrifugal force during the turning process.

[0158] Indicative, Figure 14 This is a schematic diagram of an overall solution provided by an exemplary embodiment of the present application. Figure 14 As shown, the process includes:

[0159] Step 1401: Obtain the planned trajectory.

[0160] The planned trajectory refers to the trajectory planning information of the wheel-legged robot. The wheel-legged robot moves along the target motion trajectory planned by the trajectory planning information.

[0161] Step 1402: Calculate reference speed information.

[0162] The reference speed information is the movement speed that the wheel-legged robot needs to achieve, determined based on the planned trajectory and / or control signal.

[0163] Step 1403: Calculate the wheel balancing torque based on the pitch direction balancing feedback control.

[0164] That is, under the condition of maintaining the balance of the wheel-legged robot, the balancing torque for controlling the wheels of the wheel-legged robot is determined.

[0165] Step 1404, calculate the reference yaw angle.

[0166] When the wheel-legged robot needs to move along an S-curve, the yaw angle that the wheel-legged robot needs to conform to is determined according to the curvature radius of the S-curve.

[0167] Step 1405: Calculate the wheel torque increment based on the yaw direction feedback control.

[0168] Step 1406: Combine the equilibrium torque and the torque increment to obtain the torque.

[0169] In some embodiments, since the wheel-legged robot needs to move along an S curve, the movement distance of one wheel needs to be greater than the movement distance of the other wheel within the same time. After calculating the wheel torque increment, the torque increment is added to the balancing torque to obtain the control torque of one wheel, and the balancing torque is subtracted from the torque increment to obtain the control torque of the other wheel.

[0170] Step 1407: Send torque to the wheel motor to complete pitch balancing.

[0171] The wheels are driven and controlled by wheel motors. Therefore, the calculated torque is sent to the wheel motors, which drive the wheels to rotate, completing pitch balance and achieving S-curve turns.

[0172] Step 1408: Calculate wheel leg adjustment data based on the centrifugal force model.

[0173] In some embodiments, since centrifugal force is generated when the wheel-legged robot turns along an S-curve, the wheel-leg adjustment data is determined according to the centrifugal force model based on the curvature radius of the S-curve and the movement speed of the wheel-legged robot, and the wheel-leg length is adjusted to reduce the impact of the centrifugal force through the roll angle of the wheel-legged robot.

[0174] Step 1409: Calculate the joint angles based on inverse kinematics.

[0175] According to parameters such as the length of each wheel leg of the wheel-legged robot, the joint angle is determined based on the wheel leg adjustment data.

[0176] Step 1410: Send the joint angles to the wheel-leg motors to adjust the posture of the wheel-leg robot.

[0177] In some embodiments, when the balance of the wheel-legged robot is unstable, the balance control stability of the wheel-legged robot can be improved by reducing the overall height of the wheel-legged robot.

[0178] Step 1411: The posture of the wheel-legged robot changes.

[0179] Step 1412, this round of control ends.

[0180] Indicative, such as Figure 15 As shown, when the wheel-legged robot 1510 turns left, the left leg retracts, generating a centripetal force to the left, thereby generating an angular velocity for the robot to turn left. Similarly, when the wheel-legged robot turns right, to maintain balance, the right leg retracts, generating a centripetal force to the right, thereby generating an angular velocity for the robot to turn right.

[0181] Figure 16 yes Figure 15 The linear velocity curve and yaw angular velocity curve of the wheel-legged robot 1510 during the S-turn process are shown in FIG. Figure 16 The linear velocity is shown as curve 1610, and the yaw angular velocity is shown as curve 1620. Wheel-legged robot 1510 rotates counterclockwise at the first and third pegs and clockwise at the second peg. However, to keep the robot on the desired path, the experimenter frequently adjusted the remote control. Despite the poor stability, the robot remained stable along the desired path at maximum height.

[0182] Figure 17 This is a structural block diagram of a motion state control device provided by an exemplary embodiment of the present application. Taking the device as an example, the device is set in a wheel-legged robot. Figure 17 As shown, the device includes:

[0183] An acquisition module 1710 is configured to acquire trajectory planning information, wherein the trajectory planning information is used to represent a target motion trajectory of the wheel-legged robot;

[0184] A determination module 1720 is configured to determine reference motion state data based on the trajectory planning information, wherein the reference motion state data is used to represent the motion state of the wheel-legged robot when it moves along the target motion trajectory;

[0185] The determining module 1720 is further configured to determine a torque for controlling the wheel-legged robot based on the reference motion state data;

[0186] A control module 1730 is configured to adjust the leg structure of the wheel-legged robot based on the trajectory planning information;

[0187] The control module 1730 is further configured to control the wheel-legged robot to move along the target motion trajectory using the adjusted leg structure and the torque.

[0188] In an optional embodiment, the reference motion state data includes reference speed information;

[0189] The acquisition module 1710 is further configured to acquire pitch angle information of the wheel-legged robot, wherein the pitch angle information represents the angle of the wheel-legged robot in the forward and backward directions;

[0190] The determining module 1720 is further configured to determine a balance control torque for controlling the wheel-legged robot based on the reference speed information and the pitch angle information, wherein the balance control torque refers to a torque for maintaining the wheel-legged robot in a balanced state;

[0191] The determination module 1720 is further configured to determine a torque for controlling the wheel-legged robot based on the balance control torque.

[0192] In an optional embodiment, the reference motion state data further includes reference yaw angle information;

[0193] The acquisition module 1710 is further configured to acquire yaw angle information of the wheel-legged robot, wherein the yaw angle information represents angle information of the wheel-legged robot in a direction around a vertical rotation axis;

[0194] The determining module 1720 is further configured to determine an incremental torque for controlling the wheel-legged robot based on the reference yaw angle information and the yaw angle information, wherein the incremental torque refers to a torque for controlling the rotation of the wheel-legged robot;

[0195] The determination module 1720 is further configured to combine the balancing torque with the incremental torque to obtain a torque for controlling the wheel-legged robot.

[0196] In an optional embodiment, the wheel-legged robot includes a first wheel and a second wheel;

[0197] The determining module 1720 is further configured to combine the balancing torque and the incremental torque using a first calculation method based on the trajectory planning information to obtain a first torque for controlling the first wheel of the wheel-legged robot;

[0198] The determination module 1720 is further configured to combine the balancing torque and the incremental torque through a second operation method based on the trajectory planning information to obtain a second torque for controlling the second wheel of the wheel-legged robot.

[0199] In an optional embodiment, the wheel-legged robot includes a wheel motor, and the wheel motor is used to control the wheel part of the wheel-legged robot;

[0200] The control module 1730 is further configured to input the torque into the wheel motor; and control the wheel-legged robot to move along the target motion trajectory by outputting power corresponding to the torque through the wheel motor.

[0201] In an optional embodiment, the determining module 1720 is further configured to determine robot posture data based on the trajectory planning information, wherein the robot posture data is used to represent the structural posture of the wheel-legged robot when it moves along the target motion trajectory;

[0202] The control module 1730 is further configured to adjust the posture of the leg structure of the wheel-legged robot based on the robot posture data.

[0203] In an optional embodiment, the determining module 1720 is further configured to determine wheel-leg adjustment data based on the trajectory planning information;

[0204] The control module 1730 is further configured to adjust the leg structure of the wheel-legged robot based on the wheel-leg adjustment data.

[0205] In an optional embodiment, the wheel-legged robot includes a wheel-leg motor, which is used to control the bending of the wheel leg. The leg structure of the wheel-legged robot includes a small wheel leg and a large wheel leg, and the large wheel leg is connected to the wheel-leg motor.

[0206] The determining module 1720 is further configured to determine bending angle data of the wheel leg based on the wheel leg adjustment data, wherein the bending angle data is used to represent an angle between the large wheel leg and the main body;

[0207] The control module 1730 is further configured to input the bending angle data into the wheel leg motor, and perform bending control on the wheel leg via the wheel leg motor.

[0208] To sum up, the device provided in the embodiment of the present application, after obtaining the trajectory planning information of the wheel-legged robot, first determines the reference motion state data of the wheel-legged robot when it moves in accordance with the trajectory planning information according to the trajectory planning information, and then determines the torque for controlling the wheel-legged robot on the basis of the reference motion state data and controls the wheel-legged robot to move according to the target motion trajectory planned by the trajectory planning information, and coordinates the movement of the wheel-legged robot during the movement process through the adjustment of the leg structure, thereby improving the flexibility of controlling the wheel-legged robot to move along the trajectory.

[0209] It should be noted that the motion state control device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be 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 is based on the same concept as the motion state control method embodiment. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0210] Figure 18 The following is a block diagram of the structure of an electronic device 1800 provided by an exemplary embodiment of the present application. The electronic device 1800 can be a portable mobile terminal, such as a smartphone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III), an MP4 player (Moving Picture Experts Group Audio Layer IV), a laptop computer, or a desktop computer. The electronic device 1800 may 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 1800 is implemented as the control device portion of a wheel-legged robot.

[0211] Typically, the electronic device 1800 includes a processor 1801 and a memory 1802 .

[0212] The processor 1801 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 1801 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor 1801 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 1801 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 1801 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0213] Memory 1802 may include one or more computer-readable storage media, which may be non-transitory. Memory 1802 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in memory 1802 is used to store at least one instruction, which is executed by processor 1801 to implement the motion state control method provided in the method embodiment of the present application.

[0214] In some embodiments, electronic device 1800 may optionally include a peripheral device interface 1803 and at least one peripheral device. The processor 1801, memory 1802, and peripheral device interface 1803 may be connected via a bus or signal lines. Each peripheral device may be connected to peripheral device interface 1803 via a bus, signal lines, or circuit boards. Specifically, the peripheral device may include at least one of a radio frequency circuit 1804, a display screen 1805, a camera assembly 1806, an audio circuit 1807, a positioning assembly 1808, and a power supply 1809.

[0215] The peripheral device interface 1803 can be used to connect at least one I / O (Input / Output)-related peripheral device to the processor 1801 and the memory 1802. In some embodiments, the processor 1801, the memory 1802, and the peripheral device interface 1803 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1801, the memory 1802, and the peripheral device interface 1803 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0216] The RF circuit 1804 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 1804 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 1804 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the RF circuit 1804 includes an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and the like. The RF circuit 1804 can communicate with other terminals via at least one wireless communication protocol. Such wireless communication protocols include, but are not limited to, the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or Wi-Fi (Wireless Fidelity) networks. In some embodiments, the RF circuit 1804 may also include circuitry related to Near Field Communication (NFC), although this application does not limit this.

[0217] The display screen 1805 is used to display a UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 1805 is a touch screen display, the display screen 1805 also has the ability to collect touch signals on the surface or above the surface of the display screen 1805. The touch signal can be input as a control signal to the processor 1801 for processing. At this time, the display screen 1805 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, there can be one display screen 1805, which is set on the front panel of the electronic device 1800; in other embodiments, there can be at least two display screens 1805, which are respectively set on different surfaces of the electronic device 1800 or in a folding design; in other embodiments, the display screen 1805 can be a flexible display screen, which is set on the curved surface or folding surface of the electronic device 1800. Even the display screen 1805 can be set to a non-rectangular irregular shape, that is, a special-shaped screen. The display screen 1805 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0218] The camera assembly 1806 is used to capture images or videos. Optionally, the camera assembly 1806 includes a front camera and a rear camera. Typically, the front camera is arranged on the front panel of the terminal, and the rear camera is arranged on the back of the terminal. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, the fusion of the main camera and the wide-angle camera to realize panoramic shooting and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera assembly 1806 may also include a flash. The flash can be a monochrome temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0219] The audio circuit 1807 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals that are input into the processor 1801 for processing, or input into the radio frequency circuit 1804 to achieve voice communication. For the purpose of stereo sound collection or noise reduction, there can be multiple microphones, each located in different parts of the electronic device 1800. The microphone can also be an array microphone or an omnidirectional collection microphone. The speaker is used to convert the electrical signal from the processor 1801 or the radio frequency circuit 1804 into sound waves. The speaker can be a traditional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for purposes such as distance measurement. In some embodiments, the audio circuit 1807 may also include a headphone jack.

[0220] Positioning component 1808 is used to locate the current geographic location of electronic device 1800 to implement navigation or LBS (Location Based Service). Positioning component 1808 can be a positioning component based on the US GPS (Global Positioning System), China's Beidou system, or Russia's Galileo system.

[0221] Power supply 1809 is used to power the various components of electronic device 1800. Power supply 1809 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 1809 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired line, while a wireless rechargeable battery is a battery that is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0222] In some embodiments, the electronic device 1800 further includes one or more sensors 1810 , including but not limited to an acceleration sensor 1811 , a gyroscope sensor 1812 , a pressure sensor 1813 , a fingerprint sensor 1814 , an optical sensor 1815 , and a proximity sensor 1816 .

[0223] The accelerometer 1811 can detect the magnitude of acceleration along the three coordinate axes of the coordinate system established by the electronic device 1800. For example, the accelerometer 1811 can be used to detect the components of gravity acceleration along the three coordinate axes. The processor 1801 can control the display screen 1805 to display the user interface in either a landscape or portrait view based on the gravity acceleration signal collected by the accelerometer 1811. The accelerometer 1811 can also be used to collect game or user motion data.

[0224] The gyroscope sensor 1812 can detect the orientation and rotation angle of the electronic device 1800. It can work in conjunction with the accelerometer 1811 to capture the user's 3D movements of the electronic device 1800. Based on the data collected by the gyroscope sensor 1812, the processor 1801 can implement the following functions: motion sensing (for example, changing the UI based on the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

[0225] The pressure sensor 1813 can be set on the side frame of the electronic device 1800 and / or the lower layer of the display screen 1805. When the pressure sensor 1813 is set on the side frame of the electronic device 1800, it can detect the user's grip signal of the electronic device 1800, and the processor 1801 performs left and right hand recognition or shortcut operations based on the grip signal collected by the pressure sensor 1813. When the pressure sensor 1813 is set on the lower layer of the display screen 1805, the processor 1801 controls the operable controls on the UI interface based on the user's pressure operation on the display screen 1805. The operable controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0226] The fingerprint sensor 1814 is used to collect the user's fingerprint. The processor 1801 identifies the user's identity based on the fingerprint collected by the fingerprint sensor 1814, or the fingerprint sensor 1814 identifies the user's identity based on the collected fingerprint. When the user's identity is identified as a trusted identity, the processor 1801 authorizes the user to perform relevant sensitive operations, such as unlocking the screen, viewing encrypted information, downloading software, making payments, and changing settings. The fingerprint sensor 1814 can be set on the front, back, or side of the electronic device 1800. When a physical button or manufacturer logo is provided on the electronic device 1800, the fingerprint sensor 1814 can be integrated with the physical button or manufacturer logo.

[0227] Optical sensor 1815 is used to detect ambient light intensity. In one embodiment, processor 1801 can control the display brightness of display screen 1805 based on the ambient light intensity detected by optical sensor 1815. Specifically, when the ambient light intensity is high, the display brightness of display screen 1805 is increased; when the ambient light intensity is low, the display brightness of display screen 1805 is decreased. In another embodiment, processor 1801 can also dynamically adjust the shooting parameters of camera assembly 1806 based on the ambient light intensity detected by optical sensor 1815.

[0228] Proximity sensor 1816, also known as a distance sensor, is typically located on the front panel of electronic device 1800. Proximity sensor 1816 is used to detect the distance between the user and the front of electronic device 1800. In one embodiment, when proximity sensor 1816 detects that the distance between the user and the front of electronic device 1800 is gradually decreasing, processor 1801 controls display screen 1805 to switch from the screen-on state to the screen-off state. When proximity sensor 1816 detects that the distance between the user and the front of electronic device 1800 is gradually increasing, processor 1801 controls display screen 1805 to switch from the screen-off state to the screen-on state.

[0229] Those skilled in the art will understand that Figure 18 The structure shown in the figure does not constitute a limitation on the electronic device 1800, and the electronic device 1800 may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0230] An embodiment of the present application also provides a wheel-legged robot, which includes a processor and a memory, in which at least one instruction, at least one program, code set or instruction set is stored, and at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the motion state control method provided by the above-mentioned method embodiments.

[0231] An embodiment of the present application also provides a computer-readable storage medium, which stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the motion state control method provided by the above-mentioned method embodiments.

[0232] Embodiments of the present application further provide a computer program product or 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 executes the computer instructions, causing the computer device to perform the motion state control method described in any of the above embodiments.

[0233] Optionally, the computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a solid-state drive (SSD), or an optical disk. Among them, the random access memory may include a resistance random access memory (ReRAM) and a dynamic random access memory (DRAM). The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0234] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0235] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for controlling a motion state, characterized in that: Applied to a wheel-legged robot, the method comprises: Acquiring trajectory planning information, where the trajectory planning information is used to represent a target motion trajectory of the wheel-legged robot, where the wheel-legged robot includes two wheel legs, and the two wheel legs are respectively arranged on both sides of the wheel-legged robot; Determining reference motion state data based on the trajectory planning information, wherein the reference motion state data is used to represent the motion state of the wheel-legged robot when it moves along the target motion trajectory; Determining a torque for controlling the wheel-legged robot based on the reference motion state data, the pitch angle information, and the yaw angle information of the wheel-legged robot; Adjusting the leg structure of the wheel-legged robot based on the trajectory planning information, wherein, when the wheel-legged robot turns along a curve, the lengths of the two wheel legs are controlled to be different to cooperate with the centrifugal force during the turning process; The wheel-legged robot is controlled to move along the target motion trajectory using the adjusted leg structure and the torque.

2. The method according to claim 1, characterized in that The reference motion state data includes reference speed information; The determining of the torque for controlling the wheel-legged robot based on the reference motion state data comprises: Acquire pitch angle information of the wheel-legged robot, where the pitch angle information represents the angle of the wheel-legged robot in the forward and backward directions; Determining a balance control torque for controlling the wheel-legged robot based on the reference speed information and the pitch angle information, wherein the balance control torque refers to a torque used to keep the wheel-legged robot in a balanced state; The torque for controlling the wheel-legged robot is determined based on the balance control torque.

3. The method according to claim 2, characterized in that The reference motion state data also includes reference yaw angle information; The determining of the torque for controlling the wheel-legged robot based on the balance control torque includes: Acquire yaw angle information of the wheel-legged robot, where the yaw angle information represents angle information of the wheel-legged robot in a direction around a vertical rotation axis; Determining an incremental torque for controlling the wheel-legged robot based on the reference yaw angle information and the yaw angle information, wherein the incremental torque refers to a torque used to control the rotation of the wheel-legged robot; The balancing torque is combined with the incremental torque to obtain the torque for controlling the wheel-legged robot.

4. The method according to claim 3, characterized in that The wheel-legged robot comprises a first wheel and a second wheel; The step of combining the balancing torque with the incremental torque to obtain a torque for controlling the wheel-legged robot includes: Combining the balancing torque and the incremental torque in a first calculation manner based on the trajectory planning information to obtain a first torque for controlling the first wheel of the wheel-legged robot; Based on the trajectory planning information, the balancing torque and the incremental torque are combined through a second operation method to obtain a second torque for controlling the second wheel of the wheel-legged robot.

5. The method according to any one of claims 1 to 4, characterized in that: The wheel-legged robot includes a wheel motor, which is used to control the wheel part of the wheel-legged robot; The step of controlling the wheel-legged robot to move along the target motion trajectory using the torque comprises: inputting the torque into the wheel motor; The wheel motor outputs power corresponding to the torque to control the wheel-legged robot to move along the target motion trajectory.

6. The method according to any one of claims 1 to 4, characterized in that: The adjusting the leg structure of the wheel-legged robot based on the trajectory planning information includes: Determining robot posture data based on the trajectory planning information, wherein the robot posture data is used to represent the structural posture of the wheel-legged robot when it moves along the target motion trajectory; The posture of the leg structure of the wheel-legged robot is adjusted based on the robot posture data.

7. The method according to claim 6, characterized in that The determining of robot posture data based on the trajectory planning information includes: determining wheel-leg adjustment data based on the trajectory planning information; The adjusting the posture of the wheel-legged robot based on the robot posture data includes: The leg structure of the wheel-legged robot is adjusted based on the wheel-leg adjustment data.

8. The method according to claim 7, characterized in that The wheel-legged robot includes a wheel-leg motor, which is used to control the bending of the wheel leg. The leg structure of the wheel-legged robot includes a small wheel leg and a large wheel leg, and the large wheel leg is connected to the wheel-leg motor; The adjusting the wheel legs of the wheel-legged robot based on the wheel-leg adjustment data includes: determining bending angle data of the wheel leg based on the wheel leg adjustment data, wherein the bending angle data is used to represent the angle between the large wheel leg and the main body; The bending angle data is input into the wheel-leg motor, and the leg structure is subjected to bending control by the wheel-leg motor.

9. A motion state control device, characterized in that: Applied to a wheel-legged robot, the device comprises: an acquisition module, configured to acquire trajectory planning information, wherein the trajectory planning information is used to represent a target motion trajectory of the wheel-legged robot, wherein the wheel-legged robot includes two wheel legs, and the two wheel legs are respectively arranged on both sides of the wheel-legged robot; a determination module, configured to determine reference motion state data based on the trajectory planning information, wherein the reference motion state data is used to represent the motion state of the wheel-legged robot when it moves along the target motion trajectory; The determination module is further configured to determine a torque for controlling the wheel-legged robot based on the reference motion state data, the pitch angle information, and the yaw angle information of the wheel-legged robot; a control module, configured to adjust the leg structure of the wheel-legged robot based on the trajectory planning information, wherein when the wheel-legged robot turns along a curve, the lengths of the two wheel legs are controlled to be different to cooperate with the centrifugal force during the turning process; The control module is also used to control the wheel-legged robot to move along the target motion trajectory using the adjusted leg structure and the torque.

10. The device according to claim 9, characterized in that The reference motion state data includes reference speed information; The acquisition module is further configured to acquire pitch angle information of the wheel-legged robot, wherein the pitch angle information represents the angle of the wheel-legged robot in the forward and backward directions; The determining module is further configured to determine a balance control torque for controlling the wheel-legged robot based on the reference speed information and the pitch angle information, wherein the balance control torque refers to a torque for maintaining the wheel-legged robot in a balanced state; The determination module is further configured to determine a torque for controlling the wheel-legged robot based on the balance control torque.

11. The device according to claim 10, characterized in that The reference motion state data also includes reference yaw angle information; The acquisition module is further configured to acquire yaw angle information of the wheel-legged robot, wherein the yaw angle information represents angle information of the wheel-legged robot in a direction around a vertical rotation axis; The determining module is further configured to determine an incremental torque for controlling the wheel-legged robot based on the reference yaw angle information and the yaw angle information, wherein the incremental torque refers to a torque for controlling the rotation of the wheel-legged robot; The determination module is further configured to combine the balancing torque with the incremental torque to obtain a torque for controlling the wheel-legged robot.

12. The device according to claim 11, characterized in that The wheel-legged robot comprises a first wheel and a second wheel; The determining module is further configured to combine the balancing torque and the incremental torque using a first calculation method based on the trajectory planning information to obtain a first torque for controlling the first wheel of the wheel-legged robot; The determination module is further configured to combine the balancing torque and the incremental torque through a second operation method based on the trajectory planning information to obtain a second torque for controlling the second wheel of the wheel-legged robot.

13. A wheel-legged robot, characterized in that: The wheel-legged robot includes a processor and a memory, wherein the memory 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 as described in any one of claims 1 to 8.

14. 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 8.

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