Jump control method, apparatus, device, and medium

Abstract

The application discloses a kind of jump control method, device, equipment and medium, it is related to robot control field.The method comprises: obtaining jump planning information;Based on the jump timing indicated by jump planning information, control leg structure is realized by adjusting the joint angle of leg structure from the first state to jump;In response to the wheel-legged robot reaches second state, control leg structure executes leg action from second state to third state adjustment, the height of the main body part of the wheel-legged robot in second state is higher than the height of the main body part in first state, the main body part and each wheel are connected by 2 leg structures, in the process that leg structure is from first state to second state, wheel and contact surface contact to form the action of kicking ground.By the control of leg structure, the jump control of robot is realized, and the ground adaptability of robot is improved.

Description

Technical Field

[0001] This application relates to the field of robot control, and in particular to a method, apparatus, device and medium for controlling a purple jump. Background Technology

[0002] With the development of industrial automation, robots, as intelligent machines capable of autonomous operation, are widely used. Robots are gradually becoming able to replace humans in performing some tasks, improving work efficiency and quality. Different robots can perform different functions, such as moving, jumping, overcoming obstacles, and retrieving objects.

[0003] In related technologies, the design of jumping control for robots is mainly aimed at lightweight small robots, or robots driven by hydraulic and / or chemical energy.

[0004] However, lightweight small robots are not suitable for all application scenarios, and jumping control methods suitable for small robots may not be suitable for larger robots, resulting in significant limitations in the implementation of jumping functions. Robots driven by hydraulic and / or chemical energy have higher actuation costs, and these methods are not suitable for all types of robots, similarly limiting the implementation of jumping functions. Summary of the Invention

[0005] This application provides a jump control method, apparatus, device, and medium that can improve the robot's ground adaptability. The technical solution is as follows:

[0006] On the one hand, a jumping control method is provided, applied to a wheeled-legged robot, the method comprising:

[0007] Obtain jump planning information, which is used to indicate the timing of the jump of the wheel-legged robot;

[0008] Based on the jump timing indicated by the jump planning information, the joint angle of the leg structure is adjusted to control the leg structure to take off from the first state.

[0009] In response to the wheel-legged robot reaching the second state, the leg structure is controlled to perform a retraction action to adjust from the second state to the third state. In the second state, the height of the main body of the wheel-legged robot is higher than the height of the main body in the first state. The main body and each wheel are connected by two leg structures. During the process of the leg structure changing from the first state to the second state, the wheel contacts the contact surface to form a push-off action.

[0010] On the other hand, a jumping control device is provided for use in a wheel-legged robot, the device comprising:

[0011] An acquisition module is used to acquire jump planning information, which is used to indicate the timing of the jump of the wheel-legged robot;

[0012] The control module is used to control the leg structure to take off from the first state by adjusting the joint angle of the leg structure based on the jump timing indicated by the jump planning information.

[0013] The control module is also configured to respond to the wheel-legged robot reaching the second state by controlling the leg structure to perform a retraction action to adjust from the second state to the third state. In the second state, the height of the main body of the wheel-legged robot is higher than the height of the main body in the first state. The main body and each wheel are connected by two leg structures. During the process of the leg structure changing from the first state to the second state, the wheel contacts the contact surface to form a push-off action.

[0014] On the other hand, a computer device is provided, the terminal including a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, the at least one program, the code set or instruction set being loaded and executed by the processor to implement any of the jump control methods described in the embodiments of this application.

[0015] On the other hand, a computer-readable storage medium is provided, wherein at least one piece of program code is stored in the computer-readable storage medium, the program code being loaded and executed by a processor to implement any of the jump control methods described in the embodiments of this application.

[0016] On the other hand, a computer program product or computer program is provided, 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 any of the jump control methods described in the above embodiments.

[0017] The technical solution provided in this application includes at least the following beneficial effects:

[0018] When implementing jump control for wheel-legged robots to achieve jumping-related functions, the first step is to acquire the robot's jump planning information. This information indicates the timing of the jump. Based on this timing, the robot's leg structure is controlled to initiate the push-off from a first state, thus initiating the jump. During the jump, when the ground clearance requirement is met, the leg structure is controlled to transition from a second state to a third state, enabling the robot to retract its legs and suspend itself in the air. In the third state, the distance between the wheels and the contact surface is greater than that in the second state. In short, by controlling the leg structure, the jumping function of the wheel-legged robot is achieved, increasing the diversity of the robot's actions and functions, and also enhancing its adaptability to the ground. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a wheeled-legged robot provided in an exemplary embodiment of this application;

[0021] Figure 2 This is a schematic diagram illustrating the performance of a wheeled-legged robot at different heights according to an exemplary embodiment of this application;

[0022] Figure 3 This is a schematic diagram of two sets of leg structures at different heights provided in an exemplary embodiment of this application;

[0023] Figure 4 This is a schematic diagram illustrating the derivation of joint angle information using a cross-section simulation of a wheeled-legged robot, provided in an exemplary embodiment of this application.

[0024] Figure 5 This is a schematic diagram of three spatial angles provided in an exemplary embodiment of this application;

[0025] Figure 6 This is a schematic diagram of pitch direction balance control provided in an exemplary embodiment of this application;

[0026] Figure 7 This is a flowchart of a jump control method provided in an exemplary embodiment of this application;

[0027] Figure 8 This is a schematic diagram of a first state and a second state provided in an exemplary embodiment of this application;

[0028] Figure 9 This is a schematic diagram of the second and third states provided in an exemplary embodiment of this application;

[0029] Figure 10 This is a flowchart of a jump control method provided in another exemplary embodiment of this application;

[0030] Figure 11 This is a schematic diagram of the target jump height provided in an exemplary embodiment of this application;

[0031] Figure 12 This is a schematic diagram of a joint angle provided in an exemplary embodiment of this application;

[0032] Figure 13 This is a flowchart of a jump control method provided in another exemplary embodiment of this application;

[0033] Figure 14 This is a schematic diagram of the jumping control of a wheeled-legged robot provided in an exemplary embodiment of this application;

[0034] Figure 15 This is a flowchart of a jump control method provided in another exemplary embodiment of this application;

[0035] Figure 16 This is a schematic diagram of a wheeled-legged robot in a tilted posture state provided in an exemplary embodiment of this application;

[0036] Figure 17 This is a schematic diagram of an overall solution provided by an exemplary embodiment of this application;

[0037] Figure 18 This is a structural block diagram of a jump control device provided in an exemplary embodiment of this application;

[0038] Figure 19 This is a structural block diagram of a jump control device provided in another exemplary embodiment of this application;

[0039] Figure 20 This is a structural block diagram of an electronic device provided in an exemplary embodiment of this application. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0041] First, the terms used in the embodiments of this application are defined as follows:

[0042] Wheel-legged robots: Wheel-legged robots are robotic structures that control the movement of the robot body through a wheel and leg structure. They combine the advantages of wheeled and legged robots, possessing the high efficiency of wheeled robots while inheriting the strong terrain adaptability of legged robots, enabling them to overcome uneven terrain and obstacles. However, because the contact points between a wheel-legged robot and the ground are limited to the wheels, balance control issues arise, especially given the inherent instability of the wheel arrangement.

[0043] In this embodiment of the application, a wheeled bipedal robot is used as an example for illustration. Specifically, this wheeled bipedal robot includes two wheels for movement, each connected to a leg structure, which in turn connects to the robot body. The two wheels then drive the robot body to perform motion control. However, it should be understood that the wheeled robot in this application is not limited to the above structure. Any wheeled robot should be understood as any robot that includes a wheeled leg structure.

[0044] Indicative Figure 1 This is a schematic diagram of the structure of a wheeled-legged robot provided in an exemplary embodiment of this application, as shown below. Figure 1 As shown, the wheeled robot 100 includes a main body 110 and wheeled leg parts 120;

[0045] The main body 110 is connected to the wheel leg portion 120, which 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 four leg structures 122. Two of these leg structures 122 are connected to a wheel 121. Schematic, leg structures A, B, C, and D exist. Leg structures A and B are connected to the first wheel, and leg structures C and D are connected to the second wheel. Leg structures A and B with the first wheel, and leg structures C and D with the second wheel, constitute the parallel planar structure of the two legs of the wheel-legged robot. The parallel legs have five rotational joints, with two translational degrees of freedom in the lateral and vertical directions. Compared to serial mechanisms, this parallel mechanism is characterized by its compact structure, high rigidity, and strong load-bearing capacity. Therefore, the robot can jump higher and flexibly overcome obstacles.

[0046] Optionally, the leg structure 122 includes a lower leg segment 1221 and a thigh segment 1222, which are connected by a rotating joint. The lower leg segment 1221 is also connected to the wheel 121 by a rotating joint.

[0047] The main body 110 is equipped with four sets of motors corresponding to the four leg structures 122. These four sets of motors are used to control the bending and straightening of the leg structures 122. In some embodiments, the section connecting the leg structure 122 to the main body 110 is connected by a rotating joint, as illustrated below. Figure 1 As shown, when the motor drives the rotary joint to rotate clockwise, it controls the leg structure 122 to tend towards bending; while when the motor drives the rotary joint to rotate counterclockwise, it controls the leg structure 122 to tend towards straightening. (The two sets of leg structures 122 may be driven by the rotary joint in the same or different ways). That is, the relationship between the clockwise and counterclockwise rotation methods and the bending and straightening control modes may be the same or different.

[0048] The bending and straightening of the leg structure 122 (i.e., the relative positional relationship between the lower leg segment 1221 and the thigh segment 1222) is used to control the height of the wheel-legged robot 100. Specifically, 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. (Illustrative example, please refer to...) Figure 2 , Figure 1 The leg structure 122 shown represents a case with a greater degree of bending. In this case, the wheel-legged robot 100 has a lower height, while... Figure 2 In the middle, the degree of curvature of leg structure 122 is relatively... Figure 1 The leg structure 122 is relatively small, resulting in a relatively high height for the wheel-legged robot 100 at this degree of bending. In some embodiments, the control inputs of the four sets of motors are independent. Schematic, the first and second motors are connected to the leg structure corresponding to the first wheel, and the third and fourth motors are connected to the leg structure corresponding to the second wheel. Therefore, according to the control of the first and second motors, the leg structure 122 corresponding to the first wheel has a first length, and according to the control of the third and fourth motors, the leg structure 122 corresponding to the second wheel has a second length. Schematic. Figure 3 This is a schematic diagram illustrating two sets of leg structures at different heights, provided in an exemplary embodiment of this application. Figure 3 As shown, the first wheel 1211 is raised, while the second wheel 1212 is placed on the ground.

[0049] Wheel 121 is an active wheel, that is, wheel 121 is also connected to a motor. After being driven by the motor, wheel 121 can rotate actively, thereby realizing the motion state control of wheeled robot 100, such as controlling wheeled robot to move forward, controlling wheeled robot to move backward, controlling wheeled robot to turn, or controlling wheeled robot to stand still.

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

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

[0052] In this embodiment, the motor that controls the leg structure outputs a control signal to control 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 wheel connected to the leg structure.

[0053] This is illustrative; please refer to it. Figure 4 It shows a schematic diagram of deriving joint angle information using a cross-section simulation of a wheeled robot, such as... Figure 4 As shown, an XZ coordinate system is constructed corresponding to the cross-section of the wheel-legged robot. The origin is located at the midpoint between points x1 and x5. Taking the distance between x1 and x5 as l as an example, the coordinates of x1 are (0.5l0, 0) and the coordinates of x5 are (-0.5l0, 0). The coordinates of wheel 400 are known to be (x3, z3). The purpose is to calculate the joint angle information, including joint angles 41°, 42°, 43°, and 44°.

[0054] Since the coordinates of wheel 400 are known, and x1 and x5 are also known, the lengths of line segments l5 and l6 can be calculated. The calculation formulas are illustrated in Formula 1 and Formula 2 below:

[0055]

[0056] Since the lengths l1 and l2 of the wheel legs are known, the joint angle 410° can be obtained in triangle x1x2x3 using the law of cosines, with θ 11 If so, the calculation formula is shown in Formula 3 below:

[0057]

[0058] In triangle x1x3x5, the joint angles 42° and 43° can be obtained using the Law of Cosines, with θ 12 and θ 21 The calculation formulas are shown in Formulas 4 and 5 below:

[0059]

[0060] In triangle x3x4x5, the joint angle can be calculated using the Law of Cosines as 44°, with θ... 22 The calculation formula is shown in Formula Six below:

[0061]

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

[0063] In the balance feedback control of wheeled-legged robots, the embodiments of this application mainly use pitch, yaw and roll as the three spatial angles for balance.

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

[0065] Balance control in the pitch direction:

[0066] The pitch angle represents the swing amplitude of the wheel-legged robot in the forward direction. The control in the pitch direction consists of a multi-loop proportional-integral-derivative (PID) controller. The wheel-legged robot is projected onto a two-dimensional plane to form a simplified two-dimensional model. X represents the lateral distance the wheel center moves in the simplified two-dimensional model. Ideally, X equals the product of the wheel's rotation angle and the wheel's radius. Indicates the speed at which the center of the wheel moves. The reference speed representing the movement of the wheel center is θ, and the pitch angle of the wheel-legged robot is θ. θ represents the pitch angular velocity of a wheeled robot. ref This indicates a reference value for the pitch angle of a wheeled robot. θ represents the reference value for the pitch angular velocity of the wheeled robot, and τ represents the torque input to the wheel motors of the wheeled robot. and Data collected by sensors.

[0067] This is illustrative; please refer to it. 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 motion, and the speed of the wheel center movement collected by sensors. Subtracting the reference speed from the moving speed, the result is input into the PID controller 610, and the output of the PID controller yields θ. ref , θ ref Subtracting from θ yields the pitch angle difference, which is the difference between the current pitch angle and the reference pitch angle. This pitch angle difference is then input into the PID controller 620 to obtain... Will and The result of the subtraction 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.

[0068] Based on the above, the jump control method provided in the embodiments of this application will be described. Figure 7 This is a flowchart of a jumping control method provided in one embodiment of this application, which can be implemented in a microprocessor of a wheeled robot. Figure 7 As shown, the method includes:

[0069] Step 701: Obtain jump planning information, which is used to indicate the timing of the wheeled robot's jump.

[0070] In illustrative terms, jump planning information can be pre-set or generated by the wheeled robot after real-time acquisition of environmental information. When the jump planning information is pre-set, the wheeled robot's jumping action is set according to the jump planning information, and the wheeled robot is controlled to perform jumping motions according to the aforementioned jump planning information. When the jump planning information is generated by real-time acquisition of environmental information, the wheeled robot collects images of the surrounding environment through a scanning device, which can be a camera. Based on the environmental images, the robot determines the movement trajectory of obstacles and plans the jump height according to the movement trajectory, generating jump planning information, and controlling the wheeled robot to perform jumping motions according to the aforementioned jump planning information.

[0071] Optionally, the pre-set jump planning information can be determined by control commands received from the remote controller. In one example, the remote controller can be used to control information such as the jump height, jump timing, and number of jumps of the wheeled robot, or to set the upward speed of the wheeled robot when it pushes off the ground and retracts its legs. Taking jump height as an example, after receiving the control command from the remote controller, the wheeled robot generates jump planning information based on the jump height and jump timing carried in the control command.

[0072] Optionally, the pre-set jump planning information can also be obtained by reading a data file. Illustratively, the wheeled robot includes a storage device containing a data file that instructs the robot to perform preset functions. In one example, the microprocessor reads the jump control data file from the storage device, parses the data file, and obtains the corresponding jump planning information.

[0073] This jump planning information can instruct the wheeled robot to perform a single jump or to perform a series of jumps.

[0074] Indicatively, the jump planning information may include information such as the jump timing, take-off speed, jump position, and target jump height of the wheeled robot. Among them, the jump timing indicates the time point at which the wheeled robot begins jump control, the take-off speed indicates the upward movement speed of the wheeled robot when it pushes off with its legs, the target jump height indicates the jump height that the wheeled robot needs to reach, and the take-off speed is related to the target jump height, that is, at the corresponding take-off speed, the wheeled robot can jump to reach the target jump height, and the jump position indicates the position where the wheeled robot performs jump control.

[0075] To illustrate, taking the jump planning information generated after collecting environmental information as an example, the process of determining the jump timing in the jump planning information includes: acquiring a motion image of the target obstacle, which is an obstacle that obstructs the wheeled robot; determining the relative motion speed between the target obstacle and the wheeled robot, and the relative position between the target obstacle and the wheeled robot based on the motion image; and determining the jump timing based on the relative motion speed and relative position.

[0076] In this system, a single jump timing can be determined based on relative motion speed and relative position, or a range of jump timings consisting of multiple jump timings can be defined. The jump timing range for this wheel-legged robot is called the jump time window. That is, the jump time window is determined based on relative motion speed and relative position; the jump timing is determined within this jump time window. The upper and lower limits corresponding to this jump time window are the earliest and latest jump timings, respectively.

[0077] In this embodiment, the jumping control of the wheeled-legged robot to perform rope skipping is described as an example. The wheeled-legged robot acquires several motion images, including those of a swinging rope, using a camera. These motion images are analyzed to determine the relative position between the rope and the robot, as well as the rope's speed, which includes both the direction and magnitude of the rope's movement. Based on the relative position and speed, the robot predicts the subsequent trajectory of the rope and determines a jump window based on the predicted trajectory. Finally, based on this jump window, the robot determines the timing for crossing the rope.

[0078] Step 702: Based on the jump timing indicated by the jump planning information, the joint angles of the leg structure are adjusted to control the leg structure to take off from the first state.

[0079] The joint angle is the angle between the main body and the leg structure. The main body and each wheel are connected by two leg structures.

[0080] In this embodiment of the application, the wheel-legged robot controls the leg structure according to the jumping timing indicated in the determined jumping planning information, that is, in response to determining that the jumping timing indicated by the jumping planning information has been reached, the leg structure is controlled to adjust from the first state to the second state.

[0081] Indicatively, the jump planning information also includes the target jump height. The wheeled robot determines the height it needs to reach based on the target jump height and determines the timing of the jump within the jump time window based on the target jump height.

[0082] The target jump height is also used to determine the target force when the wheel-legged robot pushes its legs upward. That is, the target jump height is used to determine the jump acceleration, the target force is determined based on the jump acceleration, and the wheel-leg motors of the wheel-legged robot are controlled based on the target force to control the leg structure, thereby changing the joint angle of the leg structure and adjusting the leg structure to start the jump from the first state.

[0083] Indicative, such as Figure 8 As shown, before performing the jumping action, the leg structure 811 of the wheel-legged robot 810 in the first posture is in the first state. In the first state, the wheel-legged robot 810 performs a kick to jump. During the kick to jump, the wheel-legged robot 820 reaches the second posture, and its corresponding leg structure 821 is in the second state.

[0084] Step 703: In response to the wheeled robot reaching the second state, control the leg structure to perform a leg retraction action to adjust from the second state to the third state.

[0085] In the second state, the height of the main body of the wheel-legged robot is higher than that in the first state. During the transition from the first to the second state, the wheels contact the contact surface to generate a pushing motion.

[0086] Indicatively, in response to the motion data meeting the ground-leaning requirement, the control system adjusts the leg structure from the second state to the third state. That is, in the second state, when the motion data of the wheel-legged robot meets the ground-leaning requirement, the wheel-legged robot performs a leg-retracting action to achieve the jumping process.

[0087] As an illustration, the wheeled robot also includes a sensor module, which collects the aforementioned motion data in real time. The sensor module collects data corresponding to the motion state of the wheeled robot and sends the collected data to a microprocessor for analysis.

[0088] In illustrative purposes, the aforementioned sensor module includes, but is not limited to, at least one type of sensor such as a gravity sensor, displacement sensor, inertial sensor, pressure sensor, angle sensor, and camera. The aforementioned motion state data may include gravity data acquired by the gravity sensor, displacement data acquired by the displacement sensor, acceleration data acquired by the inertial sensor, pressure data acquired by the pressure sensor, angle data acquired by the angle sensor, and image data acquired by the camera.

[0089] In the third state, the distance between the wheel and the contact surface is greater than that in the second state. This ground clearance requirement indicates that the current motion state of the wheel-legged robot meets the requirement of leaving the contact surface, which in one example is a horizontal ground.

[0090] Optionally, the aforementioned motion state data includes pressure data collected by a pressure sensor located in the wheel, capable of collecting the pressure of the wheel on the contact surface. When it is determined that the pressure of the wheel on the contact surface is zero, the motion state data is determined to meet the ground clearance requirement, and the leg structure is controlled to perform a leg retraction action to adjust from the second state to the third state. That is, in response to the motion state data indicating that the pressure of the wheel on the contact surface is zero, the leg structure is controlled to perform a leg retraction action to adjust from the second state to the third state.

[0091] Optionally, the aforementioned motion state data includes acceleration data collected by an inertial sensor. This inertial sensor can be located in the main body, the leg structure, or the wheels, and can collect the magnitude and direction of the overall acceleration of the wheel-legged robot. When it is determined that the upward acceleration of the wheel-legged robot is zero, the motion state data meets the ground clearance requirement, and the leg structure is controlled to retract its legs, transitioning from the second state to the third state. That is, in response to the motion state data indicating that the upward acceleration of the wheel-legged robot is zero, the leg structure is controlled to retract its legs, transitioning from the second state to the third state.

[0092] When the motion data meets the requirements for takeoff, the leg structure needs to be retracted to allow the wheel-legged robot to take off as a whole. For example... Figure 9 As shown, the leg structure 911 of the wheel-legged robot 910 in the second posture is in the second state. By controlling the leg structure to retract, the wheel-legged robot 920 in the third posture is obtained, and its corresponding leg structure 921 is in the third state.

[0093] In illustrative terms, the third state of the leg structure can be the same as the first state or a different state. When the third state of the leg structure is the same as the first state, the wheel-legged robot can be adjusted directly based on the posture adjustment data corresponding to the first state.

[0094] In this embodiment, the posture adjustment data corresponding to the third state can also be determined through jump planning information. The target ground clearance of the wheels is determined based on the jump planning information; this target ground clearance is the distance between the wheel position and the contact surface when the wheel-legged robot crosses a target obstacle. The third state corresponding to the leg structure is determined based on this target ground clearance, and the leg structure is controlled to adjust from the second state to the third state. That is, based on jump planning information, the target ground clearance of the wheels is determined; the third state corresponding to the leg structure at the target ground clearance of the wheels is determined; and the leg structure is controlled to adjust from the second state to the third state.

[0095] In summary, the jump control method provided in this application, when implementing jump control for a wheel-legged robot related to jumping functions, first acquires the jump planning information of the wheel-legged robot. This jump planning information is used to indicate the jump timing. Based on the jump timing, the leg structure of the wheel-legged robot is controlled to start pushing off from a first state to realize the robot's take-off process. During the jump, when the ground clearance requirement is met, the leg structure is controlled to adjust from a second state to a third state to realize the robot's leg retraction and suspension process. In the third state, the distance between the wheel and the contact surface is greater than that in the second state. That is, by controlling the leg structure, the jumping function of the wheel-legged robot is realized, improving the diversity of the robot's actions and functions, and also enhancing the robot's adaptability to the ground.

[0096] Figure 10 This is a flowchart of a jump control method provided in another embodiment of this application. In this embodiment, the control process of the leg structure is described. Figure 10 As shown, the method includes:

[0097] Step 1001: Obtain jump planning information.

[0098] In a schematic manner, the wheeled robot acquires a motion image of the target obstacle; based on the motion image, it determines the relative speed between the target obstacle and the wheeled robot, and the relative position between the target obstacle and the wheeled robot; and determines the timing of the wheeled robot's jump based on the relative speed and relative position.

[0099] In some embodiments, the wheeled robot also has a target jump height, and the timing of the jump needs to be determined based on the target jump height.

[0100] Indicatively, the jumping timing of a wheel-legged robot can also be estimated using motion images, i.e., the jumping timing of the wheel-legged robot is determined based on relative motion speed and relative position; in response to determining the moment corresponding to the arrival of the jumping timing, the leg structure is controlled to start pushing off from the first state to jump.

[0101] In this embodiment, the jump control of the wheeled-legged robot to perform rope skipping is described as an example. The wheeled-legged robot acquires several motion images, including those of a swinging rope, through a camera. These motion images are analyzed to determine the relative position between the rope and the robot, as well as the rope's speed, which includes both the direction and magnitude of the rope's movement. Based on the relative position and speed, the robot predicts the subsequent trajectory of the rope and determines jump planning information for crossing the rope. This jump planning information includes the target jump height the robot needs to reach and the timing for performing the jump. The jump timing can be estimated based on the rope's trajectory and the estimated take-off time based on the target jump height. This estimated take-off time indicates the total time it takes for the robot's leg structure to jump from the first state to the third state. This estimated take-off time can be determined from historical take-off times or calculated using a preset formula.

[0102] To illustrate, based on the motion image estimation, it is determined that the wheel-legged robot needs to jump over the rope in 5 seconds. Therefore, the starting time of the wheel-legged robot is determined with the goal of reaching the target jump height in 4.5 seconds. That is, the total time for the wheel-legged robot to jump to the target jump height is determined, and the starting time is determined based on the total time, the current time, and the required time of 4.5 seconds. For example, if the total time is 2 seconds, then the wheel-legged robot needs to start jumping from the first state 2.5 seconds after the current time.

[0103] Step 1002: Determine the take-off acceleration based on the target jump height.

[0104] Among them, the take-off acceleration is the acceleration required to reach the target jump height. That is, under the take-off acceleration, the wheel-legged robot can jump to the target jump height.

[0105] Indicative, such as Figure 11 As shown, the wheel-legged robot 1110 has wheels 1111. By controlling the bending, extending and bending of the wheel legs corresponding to the wheels 1111, the wheel-legged robot 1110 can complete a jump. At the highest point of the jump, the main body 1122 of the wheel-legged robot 1110 needs to reach the target jump height 1120.

[0106] Step 1003: Determine the target force based on the take-off acceleration. The target force is the force used to provide the wheel-legged robot with the force to push off upwards.

[0107] There is a corresponding relationship between the target force and the jump acceleration. In some embodiments, the wheel-legged robot stores a conversion relationship between the target force and the jump acceleration. Substituting the jump acceleration into the conversion relationship yields the target force.

[0108] In some embodiments, such as Figure 12 As shown, during the take-off phase, the wheel-legged robot is at the first joint angle 1210. Based on the target force, the second joint angle 1220 after the jump is obtained. Using the second joint angle 1220 as the target, the robot adjusts from the first joint angle 1210 to the second joint angle 1220 within the required time to complete the leg-pushing take-off. In some embodiments, the second joint angle 1220 obtained based on the target force is input into the wheel-leg motor to complete the leg-pushing action.

[0109] It is worth noting that the determination of the above-mentioned take-off acceleration is illustrated by taking the target jump height as an example. In some embodiments, the take-off acceleration can also be determined by specifying the upward movement speed of the wheel-legged robot when it pushes off and retracts its legs. This application does not limit this aspect.

[0110] Step 1004: Control the leg structure by controlling the wheel-leg motor based on the target force.

[0111] In some embodiments, a target force is input to the wheel-leg motor to control the wheel-leg motor to output power, thereby controlling the degree of bending of the leg structure and generating a force on the ground, that is, generating a pushing action.

[0112] Step 1005: In response to the wheeled robot reaching the second state, control the leg structure to perform a leg retraction action to adjust from the second state to the third state.

[0113] The second state of the wheel-legged robot indicates either a zero pressure on the contact surface or a zero upward acceleration. The robot acquires pressure data between the wheel and the contact surface via pressure sensors in its sensor module and acceleration data via inertial sensors. The pressure data includes the magnitude and direction of the pressure, while the acceleration data includes the magnitude and direction of the acceleration.

[0114] The real-time acquired pressure or acceleration data is compared with the ground clearance requirements to determine whether the wheeled robot's current motion state meets the ground clearance requirements. For example, in response to pressure data indicating that the wheeled robot's wheel pressure on the ground is 0, and acceleration data indicating that the wheeled robot's upward acceleration is 0, the current motion state of the wheeled robot is determined to meet the ground clearance requirements.

[0115] Based on the jump planning information, the target distance from the ground of the wheel is estimated. Schematic, this target distance from the ground corresponds to the obstacle. Taking a constantly swaying jump rope as an example, after the rope's trajectory is estimated through real-time image acquisition and image analysis, the height at which the trajectory obstructs the wheel-legged robot is determined. The target distance from the ground is determined based on this height. In one example, the target distance from the ground is the sum of the above height and a preset safety distance, where the preset safety distance is a fixed preset distance that ensures the wheel-legged robot can successfully cross the rope.

[0116] Determine the third state of the leg structure corresponding to the target distance of the wheel from the ground; control the leg structure to adjust from the second state to the third state in order to realize the leg retraction action of the wheel-legged robot during the jumping process.

[0117] This illustration demonstrates how adjusting the joint angle between the leg structure and the main body controls the transition from the second to the third state of the leg structure. Specifically, it involves determining the third vertical distance between the main body and the wheel in the third state; determining the third joint angle based on the component length, the third vertical distance, the first length, and the second length; and controlling the adjustment of the angle between the main body and the leg structure from the current joint angle to the third joint angle. The process for determining the third joint angle is as described above. Figure 4 The derivation process shown is not repeated here.

[0118] In summary, the jump control method provided in this application, when implementing jump control for a wheel-legged robot related to jumping functions, first acquires the jump planning information of the wheel-legged robot, which includes the jump timing. Based on the jump timing, the leg structure of the wheel-legged robot is controlled to start pushing off from a first state to realize the robot's take-off process. During the jump, when the ground clearance requirement is met, the leg structure is controlled to adjust from a second state to a third state to realize the robot's leg retraction and suspension process. In the third state, the distance between the wheel and the contact surface is greater than that in the second state. That is, by controlling the leg structure, the jumping function of the wheel-legged robot is realized, improving the diversity of the robot's actions and functions, and also enhancing the robot's adaptability to the ground.

[0119] Figure 13This is a flowchart of a jump control method provided in one embodiment of this application. In this embodiment, the jump control of the wheeled robot includes four stages: leg push-off and jump stage, leg retraction and lift-off stage, free fall stage, and leg retraction and cushioning stage. The leg push-off and jump stage includes steps 1302 and 1303; the leg retraction and lift-off stage includes steps 1304 and 1305; the free fall stage includes steps 1304 and 1306; and the leg retraction and cushioning stage includes steps 1304 and 1307. Figure 13 As shown, the method includes:

[0120] Step 1301: Obtain jump planning information, which is used to indicate the timing of the jump.

[0121] Indicatively, the jump planning information can be pre-set or generated by the wheeled robot after collecting environmental information in real time.

[0122] In this embodiment, the jumping control of the wheeled-legged robot to perform rope skipping is described as an example. Optionally, the rope swinging can be achieved externally or by the wheeled-legged robot itself. Illustratively, when the rope swinging is achieved by the wheeled-legged robot itself, the robot also includes a hand structure for swinging the rope, responsible for swinging the rope during the jump. This hand structure can be two vertically oriented rotational joints added to both ends of the main structure, each driven by at least one motor, controlling the rope to rotate around the wheeled-legged robot at a certain frequency.

[0123] When the rope's swinging motion is externally generated, the wheeled robot captures several motion images of the swinging rope using a camera. Analyzing these images, the robot determines the relative position between the rope and the robot, as well as the rope's speed, including both its direction and magnitude. Based on this relative position and speed, the robot predicts the rope's subsequent trajectory and determines the timing of its jump. This timing can be a single point in time or multiple points in time.

[0124] When the rope swinging is achieved by the wheel-legged robot itself, the corresponding jump timing can be determined directly by obtaining the rope rotation frequency controlled by the hand structure.

[0125] Step 1302: Based on the jump timing indicated by the jump planning information, the joint angles of the leg structure are adjusted to control the leg structure to take off from the first state.

[0126] When the timing for a jump is determined, the wheel-legged robot determines the height it needs to reach based on the target jump height corresponding to the determined jump planning information. Then, based on the target jump height, it determines the target force corresponding to the robot's leg push-off and inputs this target force to the wheel-leg motor. The wheel-leg motor controls the joint angle of the leg structure, thereby adjusting the joint angle between the leg structure and the main body from the first joint angle adjustment.

[0127] Step 1303: Obtain motion state data of the wheeled robot.

[0128] As an illustration, the wheeled robot also includes a sensor module, which collects the aforementioned motion data in real time. The sensor module collects data corresponding to the motion state of the wheeled robot and sends the collected data to a microprocessor for analysis.

[0129] In illustrative purposes, the aforementioned sensor module includes, but is not limited to, at least one type of sensor such as a gravity sensor, displacement sensor, inertial sensor, pressure sensor, angle sensor, and camera. The aforementioned motion state data may include gravity data acquired by the gravity sensor, displacement data acquired by the displacement sensor, acceleration data acquired by the inertial sensor, pressure data acquired by the pressure sensor, angle data acquired by the angle sensor, and image data acquired by the camera.

[0130] Step 1304: In response to the wheeled robot meeting the ground-leaning requirement, control the leg structure to perform a leg-retracting action to adjust from the second state to the third state.

[0131] This is illustrated by determining whether a wheel-legged robot meets the ground clearance requirements based on its motion state data. The real-time acquired motion state data is compared with the ground clearance requirements to determine if the robot's current motion state meets these requirements. For example, if the pressure data in the motion state data indicates that the wheel-legged robot's wheel pressure on the ground is 0, and the acceleration data indicates that the robot's upward acceleration is 0, then the robot's current motion state is determined to meet the ground clearance requirements.

[0132] In response to the motion state data meeting the ground clearance requirement, the leg structure is adjusted from the second joint angle to the third joint angle to change the leg structure from the second state to the third state. Specifically, the second joint adjustment refers to the joint angle of the wheel-legged robot in the second state, while the distance between the wheel and the contact surface in the third state is greater than the distance between the wheel and the contact surface in the second state.

[0133] Step 1305: In response to the wheeled robot meeting the falling requirements, the leg structure is controlled to adjust from the third state to the fourth state during the falling process.

[0134] In the fourth state, the length of the leg structure is greater than that in the third state. In other words, the overall height of the wheel-legged robot in the fourth state is higher than that in the third state.

[0135] The real-time acquired motion data is compared with the landing requirements to determine whether the current motion state of the wheeled robot meets the landing requirements. Illustratively, in response to the acceleration data in the motion data indicating that the wheeled robot's current acceleration is gravitational acceleration (i.e., the wheeled robot is in free fall only under the influence of gravity), the leg structure is controlled to adjust from the third state to the fourth state. The purpose is to ensure that the wheeled robot has sufficient leg retraction space during the subsequent leg retraction cushioning phase, thus ensuring the effectiveness of the landing cushioning.

[0136] In response to the motion state data meeting the falling requirements, the leg structure is adjusted from the third joint angle to the fourth shutdown angle by adjusting the joint angle between the leg structure and the main body, thus adjusting the leg structure from the third state to the fourth state.

[0137] To illustrate, if it is determined that the leg structure of the wheeled robot meets the landing cushioning requirements in the third state, then there is no need to adjust the leg structure. That is, the wheeled robot falls in free fall. When the motion data meets the ground contact requirements, the leg structure is controlled to adjust from the third state to the fifth state. At this time, the overall height of the wheeled robot in the third state is higher than that in the fifth state.

[0138] Step 1306: In response to the wheeled robot meeting the ground contact requirement, control the leg structure to adjust from the fourth state to the fifth state.

[0139] The real-time acquired motion data is compared with the ground contact requirements to determine whether the wheel-legged robot's motion state at the current moment meets the ground contact requirements. Illustratively, in response to pressure data in the motion data indicating that the pressure between the wheel and the contact surface is not zero, the wheel-legged robot's current motion state is determined to meet the ground contact requirements. That is, during the wheel-legged robot's descent under gravity, the characteristic at the moment of landing is that the pressure on the ground instantly increases from 0 to n times the magnitude of gravity, where n is a positive number. To avoid excessive impact on the robot, the leg structure is controlled to retract during the ground contact process to ensure cushioning upon landing.

[0140] In response to the motion state data meeting the ground contact requirement, the leg structure is adjusted from the fourth joint angle to the fifth joint angle, thus changing the leg structure from the fourth state to the fifth state. In the fourth state, the length of the leg structure is greater than that in the fifth state; that is, the overall height of the wheeled robot in the fourth state is higher than that in the fifth state. In one example, this fifth joint angle can be preset or determined based on the target jump height. For instance, the size of the fifth joint angle is proportional to the target jump height; that is, the higher the target jump height, the larger the fifth joint angle used for cushioning.

[0141] Please refer to Figure 14 The diagram illustrates the jumping control of a wheeled robot. The overall jumping process includes a leg-pushing take-off phase 1410, a leg-retraction and lift-off phase 1420, a free fall phase 1430, and a leg-retraction and cushioning phase 1440. In the leg-pushing take-off phase 1410, the wheeled robot transitions from the first posture 1411 to the second posture 1412. In the leg-retraction and lift-off phase 1420, the wheeled robot transitions from the second posture 1412 to the third posture 1413. In the free fall phase 1430, the wheeled robot transitions from the third posture 1413 to the fourth posture 1414. In the leg-retraction and cushioning phase 1440, the wheeled robot transitions from the fourth posture 1414 to the fifth posture 1415.

[0142] In summary, the jump control method provided in this application, when implementing jump control for a wheel-legged robot related to jump functions, first acquires the jump planning information of the wheel-legged robot, which includes the jump timing. Based on the jump timing, the leg structure of the wheel-legged robot is controlled to start pushing off from a first state to realize the robot's take-off process. During the jump, the leg structure is further adjusted by acquiring the motion state data of the wheel-legged robot. That is, when the motion state data meets the ground clearance requirement, the leg structure is controlled to perform a leg retraction action, adjusting from a second state to a third state to realize the wheel-legged robot's leg retraction and suspension process. In the third state, the distance between the wheel and the contact surface is greater than the distance between the wheel and the contact surface in the second state. After completing the takeoff, the wheel-legged robot moves to its highest point and then undergoes free fall due to gravity. To reduce the damage to the robot from ground pressure upon landing, the leg structure is controlled to adjust from the third state to the fourth state when the motion data meets the descent requirements, and from the fourth state to the fifth state when the motion data meets the ground contact requirements. In the fourth state, the overall height of the wheel-legged robot is higher than that in the third state, and vice versa. This control of the leg structure enables the wheel-legged robot to jump, improving the diversity of its actions and functions, and enhancing its adaptability to different terrains.

[0143] Figure 15 This is a flowchart of a jump control method provided in another embodiment of this application. During a jump, the wheeled robot's posture may tilt as it does not remain vertical, thus requiring consideration of the robot's balance during the jump. This application describes balance control during the jump process. Figure 15 As shown, the method includes:

[0144] Step 1501: Obtain motion state data of the wheeled robot.

[0145] In this embodiment of the application, the motion state data includes pressure data and pitch angle information. The pressure data is used to indicate the magnitude and direction of the pressure between the wheel and the contact surface, and the pitch angle information is used to indicate the angle of the wheel-legged robot in the forward and backward directions.

[0146] Step 1502: In response to the wheel being in contact with the contact surface, control the wheel motor installed in the wheel based on motion state data.

[0147] This wheel motor is a device that provides electrical output for the rotation of a wheel.

[0148] Indicatively, the pressure data determines whether the wheel and the contact surface are in contact. If the pressure data indicates that the pressure between the wheel and the contact surface is not zero, then the wheel and the contact surface are in contact.

[0149] Schematic illustration: The wheeled robot maintains balance when in contact with the ground by adjusting torque; that is, the balance control torque is determined based on pitch angle information, and this torque is used to keep the wheeled robot in a balanced state; the wheel motors are controlled by the balance control torque. Schematic illustration: Torque control is achieved by adjusting the rotational speed of the wheels; that is, a reference speed for the wheels is determined based on the balance control torque; the wheels are then controlled to rotate at the reference speed.

[0150] The balance adjustment process is performed when the wheels of the wheeled robot come into contact with the contact surface. This balance adjustment process also includes balance adjustment during the "fall-contact" phase and balance adjustment during the "contact-jump" phase.

[0151] The illustrative "fall-contact" phase balance adjustment includes: determining a first pitch angle, which is the pitch angle of the wheeled robot when it is falling; determining a first balance control torque based on the first pitch angle; and controlling the wheel motor with the first balance control torque in response to the wheel contacting the contact surface. That is, the wheeled robot determines its own first pitch angle during the fall and determines whether it is tilted (whether the pitch angle is 0) based on this first pitch angle. When the pitch angle is determined to be non-zero, it indicates that the first balance control torque needs to be applied to the wheel at the moment of contact with the contact surface. Illustratively, a first reference speed corresponding to the wheel is determined based on the first balance torque, and the wheel is controlled to rotate at the first reference speed in response to the wheel contacting the contact surface.

[0152] The illustrative "contact-jump" phase balance adjustment includes: determining a second pitch angle, which is the pitch angle of the wheeled robot when the wheels are in contact with the contact surface; determining a second balance control torque based on the second pitch angle; and controlling the wheel motors with the second balance control torque before determining the moment corresponding to the jump. That is, before jumping, the wheeled robot needs to perform balance control, determine its second pitch angle, and determine whether the robot is tilted (whether the pitch angle is 0). If the pitch angle is not 0, a second balance control torque needs to be applied to the wheels before jumping to adjust the robot's pitch angle to 0 before executing the jump. Illustratively, a second reference speed is determined for the wheels based on the second balance torque, and the wheels are controlled to rotate at the second reference speed before the jump timing is reached.

[0153] Please refer to Figure 16 It shows a wheeled legged robot 1610 in a tilted posture, where the positive direction of x is defined as follows: Figure 16 As shown by arrow 1620, the corresponding pitch angle is greater than 0, and the positive direction of the defined pitch angle is... Figure 16 The direction of clockwise rotation around an axis perpendicular to the plane of the paper.

[0154] To adjust a pitch angle greater than 0 to 0, the wheels need to be turned in the x-direction, which can be achieved by appropriately adjusting the reference speed at which the wheel center moves. This increases the angular velocity of the wheels in the x-direction. Specifically, at the moment the wheels of the wheel-legged robot touch the ground, they propel the robot forward, causing the pitch angle to be 0 or negative. The reference velocity of the wheel's center of gravity is maintained in the same manner during both takeoff and landing. Adjustments are made to ensure a balanced state during jumping and landing. Specifically, when the pitch angle is controlled to a negative value, the landing position of the wheeled robot will shift forward or backward after several jumps. When the pitch angle is controlled to 0, it ensures that the deviation between the contact point of the wheeled robot with the contact surface and the original contact point is small or even non-existent after several jumps.

[0155] Indicatively, the balance control of the wheel of the aforementioned wheeled robot during contact with the contact surface can be achieved not only by the PID controller mentioned above, but also by LQR (Linear Quadratic Regulator) controller, MPC (Model Predictive Control) controller, nonlinear control IDA-PBC (Interconnection and Damping Assignment Passivity-Based Control) method, etc., without limitation here.

[0156] Schematic, the above IDA-PBC control method includes: acquiring motion state data of the wheeled-legged robot; determining the balancing torque based on the motion state data using a controller; and then using the balancing torque to perform balance control on the wheeled-legged robot. The controller is used to determine intermediate variables, which correspond to the linearized part of the dynamic relationship of the wheeled-legged robot; by substituting the intermediate variables into the nonlinearized part of the dynamic relationship, the balancing torque can be obtained.

[0157] An illustrative dynamic model of a wheeled robot can be expressed by the following formula:

[0158]

[0159] Where m represents the mass of the wheel-legged robot's body, i.e., the main body; M represents the mass of the wheel-legged robot's wheels; l represents the current height of the wheel-legged robot, i.e., the height of the wheel-legged robot with the current leg structure; and x represents the rotation distance of the wheels. This represents the linear velocity of the wheel's rotation. The derivative of the rotational linear velocity is the rotational linear acceleration. θ represents the tilt angle of the wheel-legged robot. This indicates the tilt velocity of the wheeled robot. This represents the tilt acceleration of the wheeled robot. The tilt angle θ is used as an example to illustrate this. u represents the thrust applied to the wheeled robot, and there is a corresponding relationship between u and the torque applied to the wheels.

[0160] Formula 7 above is modified and split into Formula 8 and Formula 9 as follows.

[0161]

[0162] Where v represents the intermediate variable. That is, after splitting the nonlinear dynamic model shown in Formula 7 into a linear part (Formula 9) and a nonlinear part (Formula 8), the intermediate variable ν is first determined through the linear part, and then the intermediate variable is substituted into the nonlinear part to obtain the equilibrium torque.

[0163] In summary, the jump control method provided in this application aims to ensure the balance of the wheeled robot during the jump. When the wheels are in contact with the contact surface, the wheel motors are controlled based on the motion state data of the wheeled robot. This prevents the tilting posture caused by the non-zero pitch angle of the wheeled robot during the jump from affecting the jumping function, thus ensuring the normal realization of the jumping function of the wheeled robot and improving the robot's adaptability to the ground.

[0164] Indicative Figure 17 This is a schematic diagram of an overall solution provided by an exemplary embodiment of this application, such as... Figure 17 As shown, the process includes:

[0165] Step 1701, visual information acquisition.

[0166] The aforementioned visual information is acquired through a camera in the sensor module. This visual information can be either captured images or videos of the rope skipping motion.

[0167] Step 1702, visual information processing.

[0168] Step 1703: Analyze the relative position and velocity of the rope.

[0169] The relative position between the rope and the wheeled robot, as well as the speed of the rope's movement, are determined by processing visual information. This speed includes both the direction and magnitude of the speed.

[0170] Step 1704: Estimate the relative position of the rope at the time of takeoff.

[0171] The relative position of the rope when the wheel-legged robot takes off is estimated based on the aforementioned relative position and speed.

[0172] Step 1705: Determine if the rope has reached the take-off position. If not, proceed to step 1706; if yes, proceed to step 1707.

[0173] Step 1706: Maintain pitch direction balance.

[0174] Step 1707: Determine the target jump height Δl based on the relative velocity of the rope.

[0175] The target jump height Δl of the wheel-legged robot is determined based on the trajectory of the rope and the relative velocity.

[0176] Step 1708: Calculate the joint angle position based on inverse kinematics.

[0177] In this embodiment, the take-off acceleration of the wheel-legged robot is determined by the target jump height, the target force is determined based on the take-off acceleration, and the joint angle position is determined based on the target force.

[0178] Step 1709: Send the angle to the motor, which then controls the wheeled robot to push off the ground and jump.

[0179] By changing the joint angle between the main body and the leg structure, an upward force is provided to the wheel-legged robot, enabling the wheel-legged robot to push off the ground and jump.

[0180] Step 1710: Obtain motion state data through the sensor module.

[0181] Step 1711: Determine whether the wheeled robot is off the ground. If not, proceed to step 1709; if yes, proceed to step 1712.

[0182] Step 1712: Send the initial angle to the motor, which then controls the wheeled robot to retract its legs.

[0183] By changing the joint angle between the main body and the leg structure, the retraction of the wheeled robot's legs can be controlled, allowing the wheeled robot to lift off the ground and move upwards.

[0184] Step 1713: Aerial attitude adjustment is achieved by changing the position of the joint motor.

[0185] As an illustration, when a wheeled robot is in the air, it can determine the target posture by reading data files and send the corresponding processing instructions to each motor to achieve posture adjustment in the air.

[0186] Step 1714: Obtain motion state data through the sensor module.

[0187] Step 1715: Determine whether the wheeled robot has started to fall. If not, proceed to step 1712; if yes, proceed to step 1716.

[0188] Step 1716: Calculate wheel torque based on pitch direction balance feedback control.

[0189] Step 1717: Send torque to the wheel motor to complete pitch balancing.

[0190] As an illustration, to ensure the stability of the wheeled robot when it lands, the pitch angle is balanced by adjusting the torque of the wheels.

[0191] Step 1718: Continue until the wheel-legged robot remains balanced after landing, then confirm that this round of jump rope is complete.

[0192] Figure 18 This is a structural block diagram of a jump control device provided in one embodiment of this application. The device includes:

[0193] The acquisition module 1810 is used to acquire jump planning information, which includes the jump timing of the wheel-legged robot;

[0194] The control module 1820 is used to control the leg structure to take off from the first state by adjusting the joint angle of the leg structure based on the jump timing indicated by the jump planning information.

[0195] The control module 1820 is also configured to, in response to the wheel-legged robot reaching the second state, control the leg structure to perform a retraction action to adjust from the second state to the third state. In the second state, the height of the main body of the wheel-legged robot is higher than the height of the main body in the first state. The main body and each wheel are connected by two leg structures. During the process of the leg structure changing from the first state to the second state, the wheel contacts the contact surface to form a push-off action.

[0196] In an optional embodiment, such as Figure 19 As shown, the acquisition module 1810 further includes:

[0197] Acquisition unit 1811 is used to acquire motion images of target obstacles, wherein the target obstacles are obstacles that obstruct the wheeled robot;

[0198] The first determining unit 1812 is used to determine the relative motion speed between the target obstacle and the wheeled robot, and the relative position between the target obstacle and the wheeled robot based on the motion image;

[0199] The first determining unit 1812 is further configured to determine the timing of the jump based on the relative motion speed and the relative position.

[0200] In an optional embodiment, the first determining unit 1812 is further configured to determine a take-off time window based on the relative motion speed and the relative position, the take-off time window being used to indicate the take-off timing range of the wheel-legged robot;

[0201] The first determining unit 1812 is also used to determine the jump timing within the jump time window.

[0202] In an optional embodiment, the jump planning information further includes a target jump height;

[0203] The first determining unit 1812 is further configured to determine the jump timing based on the target jump height within the jump time window.

[0204] In an optional embodiment, the wheel-legged robot further includes wheel-leg motors for controlling the degree of bending of the leg structure;

[0205] The first determining unit 1812 is further configured to determine the take-off acceleration based on the target jump height;

[0206] The first determining unit 1812 is further configured to determine a target force based on the jump acceleration, wherein the target force is a force used to provide the wheel-legged robot with an upward kicking force;

[0207] The control module 1820 is also used to control the leg structure by controlling the wheel-leg motor based on the target force.

[0208] In an optional embodiment, the control module 1820 is further configured to control the leg structure to perform the leg retraction action from the second state to the third state in response to the zero pressure of the wheel on the contact surface;

[0209] or,

[0210] In response to the zero upward acceleration of the wheeled robot, the leg structure is controlled to perform the retraction action to adjust from the second state to the third state.

[0211] In an optional embodiment, the control module 1820 further includes: a second determining unit 1822, used to determine the target ground distance of the wheel based on the jump planning information;

[0212] The second determining unit 1822 is further configured to determine the third state corresponding to the leg structure when the wheel is at the target ground distance;

[0213] Control unit 1823 is used to control the leg structure to adjust from the second state to the third state.

[0214] In an optional embodiment, the control module 1820 is further configured to, in response to the wheeled robot meeting the falling requirements, control the leg structure to adjust from the third state to the fourth state during the falling process, wherein the length of the leg structure in the fourth state is greater than the length of the leg structure in the third state.

[0215] In an optional embodiment, the control module 1820 is further configured to control the leg structure to adjust from the fourth state to the fifth state in response to the wheeled robot meeting the ground contact requirement, wherein the length of the leg structure in the fourth state is greater than the length of the leg structure in the fifth state.

[0216] In an optional embodiment, the control module 1820 is further configured to control the wheel motor installed in the wheel based on the motion state data of the wheel-legged robot, wherein the wheel motor is a device for providing power output for the rotation of the wheel.

[0217] In an optional embodiment, the motion state data includes pitch angle information, which is used to indicate the angle of the wheeled robot in the forward and backward directions;

[0218] The second determining unit 1822 is further configured to determine a balance control torque based on the pitch angle information, wherein the balance control torque is a torque used to keep the wheeled robot in a balanced state;

[0219] The control unit 1823 is also used to control the wheel motor with the balance control torque.

[0220] In an optional embodiment, the second determining unit 1822 is further configured to determine first pitch angle information, wherein the first pitch angle information is the pitch angle information of the wheeled robot when it is in a falling state;

[0221] The second determining unit 1822 is further configured to determine the first balance control torque based on the first pitch angle information;

[0222] The control unit 1823 is further configured to control the wheel motor with the first balance control torque in response to the wheel being in contact with the contact surface.

[0223] In an optional embodiment, the second determining unit 1822 is further configured to determine second pitch angle information, the second pitch angle information being the pitch angle information of the wheel-legged robot when the wheel and the contact surface are in the contact state;

[0224] The second determining unit 1822 is further configured to determine the second balance control torque based on the second pitch angle information;

[0225] The control unit 1823 is further configured to control the wheel motor with the second balance control torque in response to determining the moment corresponding to the jump timing.

[0226] In an optional embodiment, the second determining unit 1822 is further configured to determine the reference speed corresponding to the wheel based on the balance control torque;

[0227] The control unit 1823 is also used to control the wheel to rotate at the reference speed.

[0228] In summary, the jump control device provided in this application, when implementing jump control for a wheel-legged robot related to jumping functions, first acquires the jump planning information of the wheel-legged robot. This jump planning information is used to indicate the jump timing. Based on the jump timing, the device controls the leg structure of the wheel-legged robot to start pushing off from a first state to realize the robot's take-off process. During the jump, when the ground clearance requirement is met, the device controls the leg structure to adjust from a second state to a third state to realize the robot's leg retraction and suspension process. In the third state, the distance between the wheel and the contact surface is greater than that in the second state. That is, by controlling the leg structure, the jumping function of the wheel-legged robot is realized, improving the diversity of the robot's actions and functions, and also enhancing the robot's adaptability to the ground.

[0229] It should be noted that the jump control device provided in the above embodiments is only an example of 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 jump control device provided in the above embodiments belongs to the same concept as the jump control method embodiments, and its specific implementation process can be found in the method embodiments, which will not be repeated here.

[0230] Figure 20 This illustration shows a structural block diagram of an electronic device 2000 provided in an exemplary embodiment of this application. The electronic device 2000 can be a portable mobile terminal, such as a smartphone, tablet computer, MP3 player (Moving Picture Experts Group Audio Layer III), MP4 player (Moving Picture Experts Group Audio Layer IV), laptop computer, or desktop computer. The electronic device 2000 may also be referred to as a user device, portable terminal, laptop terminal, desktop terminal, or other names. In this embodiment, the electronic device 2000 is implemented as the control device portion of a wheeled-legged robot.

[0231] Typically, electronic device 2000 includes a processor 2001 and a memory 2002.

[0232] Processor 2001 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 2001 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 2001 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 2001 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the screen. In some embodiments, processor 2001 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0233] The memory 2002 may include one or more computer-readable storage media, which may be non-transitory. The memory 2002 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 2002 are used to store at least one instruction, which is executed by the processor 2001 to implement the jump control method provided in the method embodiments of this application.

[0234] In some embodiments, the electronic device 2000 may optionally include a peripheral device interface 2003 and at least one peripheral device. The processor 2001, memory 2002, and peripheral device interface 2003 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 2003 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of the following: radio frequency circuitry 2004, display screen 2005, camera assembly 2006, audio circuitry 2007, positioning assembly 2008, and power supply 2009.

[0235] Peripheral device interface 2003 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 2001 and memory 2002. In some embodiments, processor 2001, memory 2002 and peripheral device interface 2003 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 2001, memory 2002 and peripheral device interface 2003 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0236] The radio frequency (RF) circuit 2004 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 2004 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 2004 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 2004 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, etc. The RF circuit 2004 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is 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 2004 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0237] Display screen 2005 is used to display a UI (User Interface). This UI may include graphics, text, icons, video, and any combination thereof. When display screen 2005 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 2001 for processing. In this case, display screen 2005 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one display screen 2005, disposed on the front panel of electronic device 2000; in other embodiments, there may be at least two display screens, disposed on different surfaces of electronic device 2000 or in a folded design; in still other embodiments, display screen 2005 may be a flexible display screen, disposed on a curved or folded surface of electronic device 2000. Furthermore, display screen 2005 may also be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. The display screen 2005 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0238] The camera assembly 2006 is used to acquire images or videos. Optionally, the camera assembly 2006 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the terminal, and the rear-facing camera is located on the back of the terminal. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 2006 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm-light flash and a cool-light flash, which can be used for light compensation at different color temperatures.

[0239] The audio circuit 2007 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting them into electrical signals that are input to the processor 2001 for processing, or to the radio frequency circuit 2004 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each located in a different part of the electronic device 2000. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor 2001 or the radio frequency circuit 2004 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 2007 may also include a headphone jack.

[0240] The positioning component 2008 is used to locate the current geographical location of the electronic device 2000 in order to enable navigation or LBS (Location Based Service). The positioning component 2008 can be a positioning component based on the US GPS (Global Positioning System), China's BeiDou system, or Russia's Galileo system.

[0241] Power supply 2009 is used to supply power to various components in electronic device 2000. Power supply 2009 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 2009 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, and 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.

[0242] In some embodiments, the electronic device 2000 further includes one or more sensors 2010. The one or more sensors 2010 include, but are not limited to: an accelerometer 2011, a gyroscope 2012, a pressure sensor 2013, a fingerprint sensor 2014, an optical sensor 2015, and a proximity sensor 2016.

[0243] Accelerometer 2011 can detect the magnitude of acceleration along the three axes of a coordinate system established by electronic device 2000. For example, accelerometer 2011 can be used to detect the components of gravitational acceleration along the three axes. Processor 2001 can control display screen 2005 to display the user interface in either a landscape or portrait view based on the gravitational acceleration signal acquired by accelerometer 2011. Accelerometer 2011 can also be used for games or for acquiring user motion data.

[0244] The gyroscope sensor 2012 can detect the orientation and rotation angle of the electronic device 2000. The gyroscope sensor 2012, in conjunction with the accelerometer sensor 2011, can collect 3D motion data from the user on the electronic device 2000. Based on the data collected by the gyroscope sensor 2012, the processor 2001 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0245] The pressure sensor 2013 can be disposed on the side bezel of the electronic device 2000 and / or on the lower layer of the display screen 2005. When the pressure sensor 2013 is disposed on the side bezel of the electronic device 2000, it can detect the user's grip signal on the electronic device 2000, and the processor 2001 can perform left / right hand recognition or quick operation based on the grip signal collected by the pressure sensor 2013. When the pressure sensor 2013 is disposed on the lower layer of the display screen 2005, the processor 2001 can control the operable controls on the UI interface based on the user's pressure operation on the display screen 2005. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0246] The fingerprint sensor 2014 is used to collect a user's fingerprint. The processor 2001 identifies the user based on the fingerprint collected by the fingerprint sensor 2014, or vice versa. When the user's identity is verified as trusted, the processor 2001 authorizes the user to perform relevant sensitive operations, including unlocking the screen, viewing encrypted information, downloading software, making payments, and changing settings. The fingerprint sensor 2014 can be located on the front, back, or side of the electronic device 2000. When the electronic device 2000 has physical buttons or a manufacturer's logo, the fingerprint sensor 2014 can be integrated with the physical buttons or manufacturer's logo.

[0247] An optical sensor 2015 is used to collect ambient light intensity. In one embodiment, a processor 2001 can control the display brightness of a display screen 2005 based on the ambient light intensity collected by the optical sensor 2015. Specifically, when the ambient light intensity is high, the display brightness of the display screen 2005 is increased; when the ambient light intensity is low, the display brightness of the display screen 2005 is decreased. In another embodiment, the processor 2001 can also dynamically adjust the shooting parameters of a camera assembly 2006 based on the ambient light intensity collected by the optical sensor 2015.

[0248] A proximity sensor 2016, also known as a distance sensor, is typically installed on the front panel of an electronic device 2000. The proximity sensor 2016 is used to detect the distance between the user and the front of the electronic device 2000. In one embodiment, when the proximity sensor 2016 detects that the distance between the user and the front of the electronic device 2000 is gradually decreasing, the processor 2001 controls the display screen 2005 to switch from a screen-on state to a screen-off state; when the proximity sensor 2016 detects that the distance between the user and the front of the electronic device 2000 is gradually increasing, the processor 2001 controls the display screen 2005 to switch from a screen-off state to a screen-on state.

[0249] Those skilled in the art will understand that Figure 20 The structure shown does not constitute a limitation on the electronic device 2000, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0250] The embodiments of this application also provide a wheeled-legged robot, which includes a processor and a memory. The memory stores at least one instruction, at least one program, code set, or instruction set. The processor loads and executes the at least one instruction, at least one program, code set, or instruction set to implement the jumping control method provided in the above-described method embodiments.

[0251] Embodiments of this application also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the jump control method provided in the above-described method embodiments.

[0252] Embodiments of this application also 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 any of the jump control methods described in the above embodiments.

[0253] Optionally, the computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), solid-state drives (SSDs), or optical discs, etc. The random access memory may include resistive random access memory (ReRAM) and dynamic random access memory (DRAM). The sequence numbers of the embodiments in this application are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0254] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0255] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A jump control method, characterized in that, When applied to wheeled-legged robots, the method includes: Obtain jump planning information, which is used to indicate the timing of the jump of the wheel-legged robot; Based on the jump timing indicated by the jump planning information, the joint angle of the leg structure is adjusted to control the leg structure to take off from the first state. In response to the zero pressure of the wheel on the contact surface, the leg structure is controlled to perform a retraction action to adjust from the second state to the third state; or, in response to the zero upward acceleration of the wheel-legged robot, the leg structure is controlled to perform the retraction action to adjust from the second state to the third state. In the second state, the height of the main body of the wheel-legged robot is higher than that of the main body in the first state. The main body and each wheel are connected by two leg structures. During the transition of the leg structures from the first state to the second state, the wheels contact the contact surface to form a pushing action.

2. The method according to claim 1, characterized in that, The acquisition of jump planning information includes: Acquire motion images of target obstacles, wherein the target obstacles are those that obstruct the wheeled robot; The relative speed between the target obstacle and the wheeled robot, and the relative position between the target obstacle and the wheeled robot are determined based on the motion image. The timing of the jump is determined based on the relative motion speed and the relative position.

3. The method according to claim 2, characterized in that, Determining the timing of the jump based on the relative velocity and the relative position includes: The take-off time window is determined based on the relative motion speed and the relative position, and the take-off time window is used to indicate the range of take-off opportunities for the wheel-legged robot. The timing of the jump is determined within the jump time window.

4. The method according to claim 3, characterized in that, The jump planning information also includes the target jump height; Determining the timing of the jump within the take-off time window includes: The timing of the jump is determined based on the target jump height within the jump time window.

5. The method according to claim 4, characterized in that, The wheel-legged robot also includes wheel-leg motors, which are used to control the degree of bending of the leg structure; After determining the jump timing based on the target jump height within the jump time window, the method further includes: The takeoff acceleration is determined based on the target jump height; The target force is determined based on the take-off acceleration, and the target force is the force used to provide the wheel-legged robot with an upward kicking force. The target force is used to control the leg structure by controlling the wheel-leg motor.

6. The method according to any one of claims 1 to 5, characterized in that, The control of the leg structure to perform the leg retraction action from the second state to the third state includes: Based on the jump planning information, the target distance of the wheel from the ground is determined; Determine the third state corresponding to the leg structure at the target ground distance of the wheel; Control the leg structure to adjust from the second state to the third state.

7. The method according to any one of claims 1 to 5, characterized in that, After the control of the leg structure to perform the leg retraction action is adjusted from the second state to the third state, it also includes: In response to the wheeled robot meeting the descent requirements, during the descent process, the leg structure is controlled to adjust from the third state to the fourth state, in which the length of the leg structure in the fourth state is greater than the length of the leg structure in the third state.

8. The method according to claim 7, characterized in that, The step of controlling the leg structure to adjust from the third state to the fourth state during the descent process in response to the wheeled robot meeting the descent requirements includes: In response to the wheeled robot meeting the ground contact requirement, the leg structure is controlled to adjust from the fourth state to the fifth state, wherein the length of the leg structure in the fourth state is greater than the length of the leg structure in the fifth state.

9. The method according to claim 8, characterized in that, The method further includes: The wheel motor installed in the wheel is controlled based on the motion state data of the wheel-legged robot. The wheel motor is a device for providing power output to rotate the wheel.

10. The method according to claim 9, characterized in that, The motion state data includes pitch angle information, which is used to indicate the angle of the wheeled robot in the forward and backward directions. The control of the wheel motors installed in the wheels based on the motion state data of the wheel-legged robot includes: The balance control torque is determined based on the pitch angle information. The balance control torque is a torque used to keep the wheeled robot in a balanced state. The wheel motor is controlled by the aforementioned balance control torque.

11. The method according to claim 10, characterized in that, The step of determining the balance control torque based on the pitch angle information includes: Determine the first pitch angle information, which is the pitch angle information of the wheeled robot when it is in a falling state; The first balance control torque is determined based on the first pitch angle information; The control of the wheel motor using the aforementioned balance control torque includes: In response to the wheel being in a contact state during the falling-contact phase with the contact surface, the wheel motor is controlled by the first balance control torque.

12. The method according to claim 10, characterized in that, The step of determining the balance control torque based on the pitch angle information includes: Determine the second pitch angle information, which is the pitch angle information of the wheel-legged robot when the wheel and the contact surface are in the contact-jump phase of the contact state; The second balance control torque is determined based on the second pitch angle information; The control of the wheel motor using the aforementioned balance control torque includes: In response to determining the moment corresponding to the jump timing, the wheel motor is controlled with the second balance control torque.

13. The method according to claim 10, characterized in that, The control of the wheel motor by the balance control torque includes: The reference speed corresponding to the wheel is determined based on the balance control torque; The wheel is controlled to rotate at the reference speed.

14. A jump control device, characterized in that, The device, used in wheeled-legged robots, includes: An acquisition module is used to acquire jump planning information, which is used to indicate the timing of the jump of the wheel-legged robot; The control module is used to control the leg structure to take off from the first state by adjusting the joint angle of the leg structure based on the jump timing indicated by the jump planning information. The control module is also configured to, in response to the zero pressure of the wheel on the contact surface, control the leg structure to perform the leg retraction action from the second state to the third state; or, in response to the zero upward acceleration of the wheel-legged robot, control the leg structure to perform the leg retraction action from the second state to the third state. In the second state, the height of the main body of the wheel-legged robot is higher than that of the main body in the first state. The main body and each wheel are connected by two leg structures. During the transition of the leg structures from the first state to the second state, the wheels contact the contact surface to form a pushing action.

15. A computer device, characterized in that, The computer device 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 jump control method as described in any one of claims 1 to 13.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to implement the jump control method as described in any one of claims 1 to 13.

17. A computer program product, characterized in that, The computer program product includes a computer program stored in a computer-readable storage medium, which a processor reads from and executes to implement the jump control method as described in any one of claims 1 to 13.

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