Robot operation method, device, storage medium and electronic device

Abstract

The present application discloses a robot operation method, device, storage medium and electronic device, which are applied to a robot. The robot is equipped with an airbag, an inflator and an air extractor. The inflator is used to inflate the airbag, and the air extractor is used to extract air from the airbag. The method includes: obtaining the current operation state and the next operation state of the robot, adjusting the airbag state of the airbag based on the current operation state and the next operation state, and operating with the adjusted airbag state. The airbag state includes an inflated state or an air-extracted state. By adopting the present application, it is possible to ensure the normal movement of the robot while improving the safety of the robot.

Description

Technical Field

[0001] This application relates to the field of computer technology, and particularly to a robot operation method, device, storage medium, and electronic device. Background Art

[0002] Currently, the operation of a robot is controlled by a motor. However, during the operation of the robot, there may still be unstable factors. For example, during the standing process, the robot may get out of control, such as the legs suddenly bouncing backward. If someone is standing near the robot at this time, it may hit the person standing near the robot, causing an accident. Summary of the Invention

[0003] Embodiments of this application provide a robot operation method, device, storage medium, and electronic device, which can ensure the normal movement of the robot while improving the safety of the robot.

[0004] The technical solution is as follows:

[0005] In a first aspect, an embodiment of this application provides a robot operation method applied to a robot. The robot is equipped with an airbag, an inflator, and an air extractor. The inflator is used to inflate the airbag, and the air extractor is used to extract air from the airbag. The method includes:

[0006] Obtain the current operation state and the next operation state of the robot;

[0007] Based on the current operation state and the next operation state, adjust the airbag state of the airbag, and operate with the adjusted airbag state. The airbag state includes an inflated state or an air-extracted state.

[0008] In a second aspect, an embodiment of this application provides a robot operation device applied to a robot. The robot is equipped with an airbag, an inflator, and an air extractor. The inflator is used to inflate the airbag, and the air extractor is used to extract air from the airbag. The device includes:

[0009] A state acquisition module, configured to obtain the current operation state and the next operation state of the robot;

[0010] An airbag adjustment module, configured to adjust the airbag state of the airbag based on the current operation state and the next operation state, and operate with the adjusted airbag state. The airbag state includes an inflated state or an air-extracted state.

[0011] In a third aspect, an embodiment of this application provides a computer storage medium. The computer storage medium stores multiple instructions, and the instructions are suitable for being loaded and executed by a processor to perform the method steps in the first aspect above.

[0012] Fourthly, an embodiment of the present application provides an electronic device, which may include: a processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to perform the method steps of the first aspect described above.

[0013] The beneficial effects brought by the technical solutions provided by some embodiments of the present application at least include:

[0014] In the embodiment of the present application, the current operating state and the next operating state of the robot are obtained, and the airbag state of the airbag is adjusted based on the current operating state and the next operating state, and the robot operates with the adjusted airbag state. The airbag state includes an inflated state or a deflated state. For example, when the next operating state switches to the standing state, in order to reduce the degree of damage when the robot accidentally collides with a person near the robot, the airbag of the robot is inflated, so that the airbag state becomes the inflated state, or when the next operating state switches to the dynamic activity state, the airbag of the robot is deflated, so that the airbag state of the robot becomes the deflated state. That is to say, the airbag state can be set according to the switching of the robot operating state, which can ensure the normal movement of the robot while improving the safety of the robot. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0016] Figure 1 is a schematic structural diagram of a robot provided by an embodiment of the present application;

[0017] Figure 2 is a schematic flowchart of a robot operation method provided by an embodiment of the present application;

[0018] Figure 3 is an example schematic diagram of obtaining an operating state provided by an embodiment of the present application;

[0019] Figure 4 is a schematic structural diagram of a robot in the lying-down state provided by an embodiment of the present application;

[0020] Figure 5 is a schematic flowchart of a robot operation method provided by an embodiment of the present application;

[0021] Figure 6 is a schematic structural diagram of a robot in the standing state provided by an embodiment of the present application;

[0022] Figure 7 is an exemplary schematic diagram of obtaining an operating state provided by an embodiment of the present application;

[0023] Figure 8 is an exemplary schematic diagram of obtaining an operating state provided by an embodiment of the present application;

[0024] Figure 9 is a schematic structural diagram of a robot in a walking state provided by an embodiment of the present application;

[0025] Figure 10 is a schematic structural diagram of a robot in a lying state provided by an embodiment of the present application;

[0026] Figure 11 is a schematic structural diagram of a robot operating device provided by an embodiment of the present application;

[0027] Figure 12 is a schematic structural diagram of an airbag adjustment module provided by an embodiment of the present application;

[0028] Figure 13 is a schematic structural diagram of an airbag adjustment module provided by an embodiment of the present application;

[0029] Figure 14 is a schematic structural diagram of a state holding unit provided by an embodiment of the present application;

[0030] Figure 15 is a schematic structural diagram of a state change unit provided by an embodiment of the present application;

[0031] Figure 16 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0032] To make the objectives, technical solutions, and advantages of the present application clearer, the following will further describe the embodiments of the present application in detail in conjunction with the accompanying drawings.

[0033] When the following description involves the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0034] In the description of the present application, it should be understood that terms such as "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. In addition, in the description of the present application, unless otherwise specified, "a plurality" means two or more. "And / or" describes the relationship between associated objects and indicates that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0035] The following describes the present application in detail with reference to specific embodiments.

[0036] The robot operation method provided by the embodiment of the present application can be applied to a robot. The robot is equipped with an airbag, an inflator, and an air extractor. The inflator is used to inflate the airbag, and the air extractor is used to extract air from the airbag.

[0037] The operation process of the robot is that the robot system issues a state input instruction to control the actuator to act. The actuator drives the mechanical system to move, enabling the end effector to reach a certain position in space and achieve a certain operating state, and implementing a certain operation task. The actual pose and operating state of the end effector in space are fed back to the state monitoring module by the sensing system. The state monitoring module compares the current operating state with the next operating state and issues an action instruction to execute the next operating state, and so on in a loop until the operation task is completed.

[0038] If the form of the robot is a wheeled robot, an airbag, an inflator, and an air extractor are installed on the back of the wheeled robot. The inflator is used to inflate the airbag on the back of the wheeled robot, and the air extractor is used to extract air from the airbag on the back of the wheeled robot.

[0039] If the form of the robot is a legged robot, airbags, an inflator, and an air extractor are installed on the legs and back of the legged robot. The inflator is used to inflate the airbags on the legs and back of the legged robot, and the air extractor is used to extract air from the airbags on the legs and back of the legged robot.

[0040] Airbags can also be added at positions such as the abdomen, sides, or head of the robot according to the actual form of the robot or the parts of the robot that need to prevent collisions. Furthermore, the airbag state of each part of the robot's body can be adjusted by using the inflator and the air extractor according to the operating state of the robot. The specific position where the airbag is added to the robot's body is not limited here.

[0041] This embodiment is described by taking a legged robot as an example, and the specific number of legs is not limited in this embodiment. The form of the legged robot can be single-legged, double-legged, and multi-legged.

[0042] Taking a quadruped robot as an example, as Figure 1 shown is a quadruped robot. Airbags can be added to both the legs and the back of this quadruped robot. The inflator can be controlled to inflate the airbags on the legs and the back of the robot, so that the airbag states of the airbags on the legs and the back of the robot are both in the inflated state. It is also possible to control the inflator so that the airbag state of the airbag on the leg of the robot will be in the inflated state, control the air extractor so that the airbag on the back of the robot is in the deflated state, and it is also possible to control the inflator so that the airbag state of the airbag on the back of the robot is in the inflated state, control the air extractor so that the airbag on the leg of the robot is in the deflated state. It is also possible to control the air extractor to extract air from the airbags on the legs and the back of the robot, so that the airbag states of the airbags on the legs and the back of the robot are both in the deflated state.

[0043] When the airbag states of the airbags on the legs or the back of the robot are both in the deflated state, the airbags on the legs or the back of the robot are in a contracted form, and the airbags on the legs or the back will contract into the structural hollow seams of the corresponding body parts of the robot, so that when the robot is in a non-standing state, the airbags on the legs or the back do not affect the activities of the various body parts of the robot.

[0044] When the airbag states of the airbags on the legs or the back of the robot are in the inflated state, the airbags on the legs or the back of the robot are in an expanded form. The presence of gas in the airbags can reduce the collision friction when the legs or the back of the robot collide with a person near the robot, and reduce the degree of injury to the robot or the person near the robot.

[0045] Please refer to Figure 2 , which is a schematic flowchart of a robot operation method provided by an embodiment of the present application. The robot operation method may include the following steps:

[0046] S101, obtain the current operation state and the next operation state of the robot;

[0047] The current operation state is the operation state corresponding to the current moment when the robot is running, and the next operation state is the operation state corresponding to the next moment of the robot. The operation state of the robot can be set by the system or input by the user for state control of the robot during the running process of the robot. For example, during the running process of the robot, the corresponding remote control device of the robot can be used to input state control to the robot to adjust the operation state of the robot. Then, the current operation state is the state where the robot is located at the current moment, and the next operation state is the desired operation state after the user inputs state control.

[0048] The state monitoring module of the robot is a module that monitors the running state of the robot in real time. The current running state and the next running state can be obtained by the state monitoring module of the robot. The specific obtaining process is to take out the value of the current state and the value of the next running state, and view the running states corresponding to the value of the current state and the value of the next running state, so as to obtain the current running state and the next running state of the robot.

[0049] The running state of the robot can be divided into a standing state or a non-standing state. The value of the standing state can be set to 1, and the value of the non-standing state can be set to 2. As Figure 3 shown, when the state monitoring module monitors and obtains that the value of the current running state is 1 and the value of the next running state is 2, it means that the current running state of the robot is the standing state and the next running state is the non-standing state.

[0050] S102, adjust the airbag state of the airbag based on the current running state and the next running state, and operate with the adjusted airbag state. The airbag state includes an inflated state or a deflated state.

[0051] The state monitoring module judges whether the value of the current state and the value of the next running state change based on the taken-out value of the current running state and the value of the next running state, so as to determine whether the current running state and the next running state change. During the startup process or the running process of the robot, adjust the airbag state of the airbag based on whether the current running state and the next running state change, and operate with the adjusted airbag state. The airbag state includes an inflated state or a deflated state.

[0052] Because before each robot motor is turned off, the running state of the robot switches from any running state to the lying-down state. The robot in the lying-down state is as Figure 4 shown. Therefore, before the robot starts, the state of the robot remains in the lying-down state. Therefore, before the robot starts, the current running state and the next running state remain unchanged, and the airbag state of the airbag is kept in the deflated state. The airbag includes the airbags on the legs and the back of the robot.

[0053] After the robot starts, the robot switches from the lying-down state to the standing state. During the switching process, the current running state of the robot is the lying-down state and the next running state is the standing state. When the robot enters the standing state, control the inflator to inflate the airbag, and obtain the airbag state of the airbag as the inflated state. The airbag includes the airbags on the legs and the back of the robot. Then the robot operates with the airbag state being the inflated state.

[0054] During the operation of the robot, if the current operating state is the same as the next operating state, the airbag state of the airbag is maintained unchanged; if the current operating state is different from the next operating state, the airbag state of the airbag is changed.

[0055] During the operation of the robot, when the current operating state obtained by the state monitoring module is the same as the next operating state, it means that the operating state of the robot does not change, so the airbag state of the airbag is maintained unchanged. When the current operating state obtained by the state monitoring module is different from the next operating state, it is possible that the robot switches from a standing state to a non-standing state, or the robot switches from a non-standing state to a standing state. Based on the current operating state and the next operating state, the airbag state of the airbag is changed, and the robot operates with the adjusted airbag state. The airbag state includes an inflated state or a deflated state.

[0056] By adopting the embodiment of the present application, the current operating state and the next operating state of the robot are obtained, and the airbag state of the airbag is adjusted based on the current operating state and the next operating state, and the robot operates with the adjusted airbag state. The airbag state includes an inflated state or a deflated state. For example, when the next operating state switches to a standing state, in order to reduce the degree of injury when the robot accidentally collides with a person near the robot, the airbag of the robot is inflated, so that the airbag state becomes the inflated state, or when the next operating state switches to a dynamic activity state, the airbag of the robot is deflated, so that the airbag state of the robot becomes the deflated state. That is to say, the airbag state can be set according to the switching of the operating state of the robot, which can ensure the normal movement of the robot and improve the safety of the robot at the same time.

[0057] Please refer to Figure 5 FIG. for a schematic flowchart of a robot operation method provided by an embodiment of the present application. The robot operation method may include the following steps:

[0058] S201, obtain the current operating state and the next operating state of the robot;

[0059] For details, please refer to S101 and will not be elaborated here.

[0060] S202, if the current operating state is the same as the next operating state, maintain the airbag state of the airbag unchanged, and operate with the adjusted airbag state. The airbag state includes an inflated state or a deflated state;

[0061] When the robot is in a standing state, the state of the airbag is as Figure 6As shown. If the current operating state is the standing state and the next operating state is also the standing state, then when the current operating state is completed, the inflator has been controlled to inflate the airbags on the legs and back of the robot. When the robot switches from the current operating state to the next operating state, there is no need to change the state of the airbags at this time, that is, just keep the airbags on the legs and back in the inflated state.

[0062] If the current operating state is a non-standing state and the next operating state is also a non-standing state, then keep the state of the airbags in the deflation state.

[0063] Among them, the deflation state refers to the state of the airbags of the robot when any one of the airbags on the legs and back of the robot is in the deflation state.

[0064] If the non-standing state includes at least one of the stop state, walking state, running state, and jumping state, the current operating state is a non-standing state, and the next operating state is a non-standing state, keep the airbags on the legs and back of the robot in the deflation state.

[0065] If the non-standing state includes at least one of the lying-down state, stop state, walking state, running state, and jumping state, the current operating state is the lying-down state, and the next operating state is a non-standing state and different from the current operating state (such as the stop state), then control the air extractor to extract air from the airbag, and the airbag is the airbag on the back of the robot.

[0066] It should be noted that when the robot is in the lying-down state among the non-standing states, the robot does not turn off the motor, that is, it is still in the powered-on state and can switch states at any time based on the state control input.

[0067] For example, if the current operating state is the lying-down state and the next operating state is the walking state, it means that the state of the airbag on the back of the robot is in the inflated state at this time. To prevent the inflated state of the airbag on the back of the robot from affecting the movement of the robot when the robot executes the walking state, the air extractor is controlled to extract air from the airbag on the back of the robot, so that the airbags on the legs and back of the robot are both in the deflation state.

[0068] If the non-standing state includes at least one of the lying-down state, stop state, walking state, running state, and jumping state, the current operating state is a non-standing state and different from the next operating state, and the next operating state is the lying-down state, then control the inflator to inflate the airbag, and the airbag is the airbag on the back of the robot.

[0069] For example, if the current operating state is the running state and the next operating state is the lying down state, it means that the airbags on the legs and back of the robot are in the air extraction state at this time. To reduce the degree of damage to the robot and the people near the robot when an accident occurs between the back of the robot and the people near the robot in the lying down state, the inflator is controlled to inflate the back airbag, so that the airbag on the leg of the robot is in the air extraction state and the airbag state of the airbag on the back of the robot is in the inflation state.

[0070] It should be noted that the stop state and the lying down state in the non-standing state are the same state. When the robot switches to the stop state, the robot is in the state of turning off the motor.

[0071] S203. If the current operating state is different from the next operating state, change the airbag state of the airbag; operate with the adjusted airbag state, and the airbag state includes the inflation state or the air extraction state.

[0072] If the current operating state is the standing state and the next operating state is the non-standing state, control the air extractor to extract air from the airbag to obtain the airbag state of the airbag as the air extraction state;

[0073] When the current operating state of the robot is the standing state, the airbag states of the airbags on the legs and back of the robot are both in the inflation state at this time. When the next operating state of the robot is the non-standing state, it means that the robot will perform dynamic activities or execute the lying down state. Therefore, control the air extractor to extract air from the airbag on the leg or back of the robot to obtain the airbag state of the airbag of the robot as the air extraction state.

[0074] The non-standing state can specifically be at least one of the lying down state, the prone state, the standing state, the stop state, the walking state, the running state, the jumping state or other dynamic states. Determining which state in the non-standing state the robot is in can be obtained through the state monitoring module. When the state monitoring module obtains the current operating state and the next operating state, take out the values of the current operating state and the next operating state, and check whether the values of the current operating state and the next operating state correspond to the standing state or the non-standing state. When it is determined that the current operating state or the next operating state is the non-standing state, take out the value corresponding to the non-standing state, and continue to check which one of the lying down state, the prone state, the standing state, the stop state, the walking state, the running state, the jumping state or other dynamic states the value corresponding to the non-standing state specifically corresponds to.

[0075] For example, the value of the standing state can be set to 1X, the value of the non-standing state can be set to 2X, the value corresponding to the lying down state is 21, and the value corresponding to the walking state is 22, such as Figure 7As shown, when the value of the current operating state taken by the status monitoring module is 1X and the next operating state is 2X, it indicates that the current operating state of the robot is the standing state and the next operating state is a non-standing state. Then, the value 2X corresponding to the non-standing state is taken, and the specific value in the units digit of the value 2X corresponding to the non-standing state is continued to be checked. For example, Figure 8 As shown, if X is 1, it means that the next operating state of the robot is specifically the lying-down state in the non-standing state. If X is 2, the next operating state of the robot is specifically the walking state in the non-standing state.

[0076] The non-standing state is at least one of a stop state, a walking state, a running state, or a jumping state. If the current operating state is the standing state and the next operating state is the non-standing state, the air pump is controlled to pump air out of the airbag, and the airbag state of the airbag is obtained as the air-extracted state. The airbag includes the airbags on the legs and the back of the robot.

[0077] For example, the current operating state of the robot is the standing state, and the next operating state is the walking state in the non-standing state. At this time, the airbag states of the airbags on the legs and the back of the robot are the inflated states. To prevent the airbag states of the airbags on the legs and the back of the robot in the inflated states from affecting the robot's movement when the robot is in the walking state, the air pump is controlled to pump air out of the airbags on the legs and the back of the robot. For example, Figure 9 As shown, the airbag states of the airbags on the legs and the back of the robot are obtained as the air-extracted state.

[0078] The non-standing state is the lying-down state. If the current operating state is the standing state and the next operating state is the non-standing state, the air pump is controlled to pump air out of the airbag, and the airbag state of the airbag is obtained as the air-extracted state. The airbag is the airbag on the leg of the robot.

[0079] For example, the current operating state is the standing state, and the next operating state is the lying-down state in the non-standing state. To reduce the degree of injury to the robot and the person near the robot when the back of the robot collides with the person near the robot when the robot is in the lying-down state, the air pump is controlled to pump air out of the airbag on the leg of the robot. For example, Figure 10 As shown, the airbag state of the airbag on the leg is the air-extracted state, and the airbag state of the airbag on the back is the inflated state.

[0080] The non-standing state is at least one of a stopped state, a walking state, a running state, and a jumping state. If the current operating state is a non-standing state and the next operating state is a standing state, then control the inflator to inflate the airbag, and obtain that the airbag state of the airbag is an inflated state. The airbag includes the airbags on the legs and the back of the robot.

[0081] For example, if the current operating state is the walking state among the non-standing states and the next operating state is the standing state, it indicates that the airbag state of the airbags on the legs and the back of the robot is a deflated state at this time. To reduce the degree of injury to the robot and the person near the robot when the robot collides with the person near the robot in the standing state, control the inflator to inflate the airbags on the legs and the back of the robot, and obtain that the airbag state of the airbags on the legs and the back of the robot is an inflated state.

[0082] The non-standing state is a lying-down state. If the current operating state is a non-standing state and the next operating state is the standing state, then control the inflator to inflate the airbag, and obtain that the airbag state of the airbag is an inflated state. The airbag is the airbag on the leg of the robot.

[0083] For example, if the current operating state is the lying-down state among the non-standing states and the next operating state is the standing state, it indicates that the airbag state of the airbag on the leg of the robot is a deflated state at this time, and the airbag state of the airbag on the back of the robot is an inflated state. To reduce the degree of injury to the robot and the person near the robot when the robot collides with the person near the robot in the standing state, control the inflator to inflate the airbag on the leg of the robot, and obtain that the airbag state of the airbags on the legs and the back of the robot is an inflated state.

[0084] By adopting the embodiments of the present application, the current operating state and the next operating state of the robot are obtained. If the current operating state is the standing state and the next operating state is the standing state, the airbags on the legs and the back of the robot can be kept in the inflated state, which can reduce the degree of injury when the robot collides accidentally with a person near the robot in the continuous standing state. If the non-standing state includes at least one of the stop state, the walking state, the running state, and the jumping state, the current operating state is the non-standing state, and the next operating state is the non-standing state, keeping the airbags on the legs and the back of the robot in the deflated state can enable the robot not to be affected in its dynamic activities when in the continuous non-standing state. If the non-standing state includes at least one of the lying state, the stop state, the walking state, the running state, and the jumping state, the current operating state is the lying state, and the next operating state is the non-standing state and different from the current operating state, controlling the air extractor to extract air from the airbag on the back of the robot can enable the robot's dynamic activities not to be affected after switching from the lying state to any one of the other non-standing states. If the non-standing state includes at least one of the lying state, the stop state, the walking state, the running state, and the jumping state, the current operating state is the non-standing state and different from the next operating state, and the next operating state is the lying state, then controlling the air inflator to inflate the airbag on the back of the robot, or, if the current operating state is the standing state and the next operating state is the lying state among the non-standing states, controlling the air extractor to extract air from the airbag on the leg of the robot can reduce the degree of injury when the back of the robot collides accidentally with a person near the robot when the robot switches from the standing state to the lying state. If the current operating state is the standing state and the next operating state is one of the stop state, the walking state, the running state, or the jumping state among the non-standing states, then controlling the air extractor to extract air from the airbags on the legs and the back of the robot can enable the robot's dynamic activities not to be affected when in any one of the stop state, the walking state, the running state, or the jumping state among the non-standing states. If the non-standing state is at least one of the stop state, the walking state, the running state, and the jumping state, if the current operating state is the non-standing state and the next operating state is the standing state, controlling the air inflator to inflate the airbags on the legs and the back of the robot, or, if the current operating state is the lying state and the next operating state is the standing state, controlling the air inflator to inflate the legs of the robot can make the airbags on the legs and the back of the robot both in the inflated state, which can reduce the degree of injury when the robot collides accidentally with a person near the robot after the operating state of the robot switches to the standing state. That is to say, the airbag state can be set according to the switching of the robot's operating state, which can ensure the normal movement of the robot and improve the safety of the robot at the same time.

[0085] The following is an apparatus embodiment of the present application, which can be used to execute the method embodiment of the present application. For details not disclosed in the apparatus embodiment of the present application, please refer to the method embodiment of the present application.

[0086] Please refer to Figure 11 , which shows a schematic structural diagram of a robot running device provided by an exemplary embodiment of the present application. The robot running device can be implemented as all or part of a mobile terminal through software, hardware, or a combination of both. The robot running device 1 includes a state acquisition module 11 and an airbag adjustment module 12. Among them:

[0087] The state acquisition module 11 is used to acquire the current running state and the next running state of the robot;

[0088] The airbag adjustment module 12 is used to adjust the airbag state of the airbag based on the current running state and the next running state, and operate with the adjusted airbag state. The airbag state includes an inflated state or a deflated state.

[0089] Optionally, as Figure 12 shown, during the startup process of the robot, the airbag adjustment module 12 includes:

[0090] The first startup unit 121 is used to set the current running state and the next running state of the robot to the lying-down state before the robot starts, and keep the airbag state of the airbag in the deflated state;

[0091] The second startup unit 122 is used to control the robot to switch from the lying-down state to the standing state after the robot starts, and control the inflator to inflate the airbag, so that the airbag state of the airbag is in the inflated state. The airbag includes the airbags on the legs and the back of the robot.

[0092] Optionally, as Figure 13 shown, during the running process of the robot, the airbag adjustment module 12 includes:

[0093] The state holding unit 123 is used to keep the airbag state of the airbag unchanged if the current running state is the same as the next running state;

[0094] The state changing unit 124 is used to change the airbag state of the airbag if the current running state is different from the next running state.

[0095] Optionally, as Figure 14 shown, the state holding unit 123 includes:

[0096] The first state maintaining subunit 1231 is configured to maintain the airbag state of the airbag in an inflated state if the current operating state is a standing state and the next operating state is a standing state;

[0097] The second state maintaining subunit 1232 is configured to maintain the airbag state of the airbag in an air-extracted state if the current operating state is a non-standing state and the next operating state is a non-standing state.

[0098] Optionally, as Figure 15 shown, the state changing unit 124 includes:

[0099] The first state changing subunit 1241 is configured to control the air extractor to extract air from the airbag to obtain the airbag state of the airbag in an air-extracted state if the current operating state is a standing state and the next operating state is a non-standing state;

[0100] The second state changing subunit 1242 is configured to control the inflator to inflate the airbag to obtain the airbag state of the airbag in an inflated state if the current operating state is a non-standing state and the next operating state is a standing state.

[0101] Optionally, the non-standing state is at least one of a stopped state, a walking state, a running state, or a jumping state. The first state changing subunit 1241 is specifically configured to:

[0102] If the current operating state is a standing state and the next operating state is a non-standing state, control the air extractor to extract air from the airbag to obtain the airbag state of the airbag in an air-extracted state. The airbag includes the airbags of the robot's legs and the back.

[0103] Optionally, the non-standing state is a lying-down state. The first state changing subunit 1241 is further specifically configured to:

[0104] If the current operating state is a standing state and the next operating state is a non-standing state, control the air extractor to extract air from the airbag to obtain the airbag state of the airbag in an air-extracted state. The airbag is the airbag of the robot's leg.

[0105] Optionally, the non-standing state is at least one of a stopped state, a walking state, a running state, or a jumping state. The second state changing subunit 1242 is specifically configured to:

[0106] If the current operating state is a non-standing state and the next operating state is a standing state, control the inflator to inflate the airbag to obtain the airbag state of the airbag in an inflated state. The airbag includes the airbags of the robot's legs and the back.

[0107] Optionally, the non-standing state is a lying-down state, and the second state change sub-unit 1242 is further specifically configured to:

[0108] If the current operating state is a non-standing state and the next operating state is a standing state, then control the inflator to inflate the airbag, so that the airbag state of the airbag is an inflated state, and the airbag is an airbag on the leg of the robot.

[0109] Optionally, the non-standing state includes at least one of a lying-down state, a stop state, a walking state, a running state, and a jumping state, and the second state holding sub-unit 1232 is specifically configured to:

[0110] If the current operating state is a lying-down state and the next operating state is a non-standing state and different from the current operating state, then control the air extractor to extract air from the airbag, and the airbag is an airbag on the back of the robot;

[0111] If the current operating state is a non-standing state and different from the next operating state, and the next operating state is a lying-down state, then control the inflator to inflate the airbag, and the airbag is an airbag on the back of the robot.

[0112] It should be noted that when the robot operating device provided in the above embodiment executes the robot operating method, only the above-mentioned division of each functional module is used for illustration. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the robot operating device provided in the above embodiment and the robot operating method embodiment belong to the same concept, and the implementation process is shown in detail in the method embodiment, which will not be elaborated here.

[0113] The serial numbers of the embodiments of the present application above are only for description and do not represent the advantages and disadvantages of the embodiments.

[0114] By adopting the embodiment of the present application, the current operating state and the next operating state of the robot are obtained. If the current operating state is the standing state and the next operating state is also the standing state, the airbags on the legs and the back of the robot can be kept in the inflated state, which can reduce the degree of injury when the robot collides accidentally with people near the robot in the continuous standing state. If the non-standing state includes at least one of the stop state, walking state, running state, and jumping state, the current operating state is the non-standing state, and the next operating state is the non-standing state, keeping the airbags on the legs and the back of the robot in the deflated state can enable the robot to move dynamically without being affected when in the continuous non-standing state. If the non-standing state includes at least one of the lying state, stop state, walking state, running state, and jumping state, the current operating state is the lying state, and the next operating state is the non-standing state and different from the current operating state, controlling the air extractor to extract air from the airbag on the back of the robot can enable the robot to switch from the lying state to any of the other non-standing states without being affected in its dynamic activities. If the non-standing state includes at least one of the lying state, stop state, walking state, running state, and jumping state, the current operating state is the non-standing state and different from the next operating state, and the next operating state is the lying state, then controlling the air inflator to inflate the airbag on the back of the robot, or, if the current operating state is the standing state and the next operating state is the lying state among the non-standing states, controlling the air extractor to extract air from the airbag on the leg of the robot can reduce the degree of injury when the back of the robot collides accidentally with people near the robot after the robot switches from the standing state to the lying state. If the current operating state is the standing state and the next operating state is one of the stop state, walking state, running state, or jumping state among the non-standing states, then controlling the air extractor to extract air from the airbags on the legs and the back of the robot can enable the robot to move dynamically without being affected when in any of the stop state, walking state, running state, or jumping state among the non-standing states. If the non-standing state is at least one of the stop state, walking state, running state, and jumping state, if the current operating state is the non-standing state and the next operating state is the standing state, controlling the air inflator to inflate the airbags on the legs and the back of the robot, or, if the current operating state is the lying state and the next operating state is the standing state, controlling the air inflator to inflate the legs of the robot can keep the airbags on the legs and the back of the robot in the inflated state, which can reduce the degree of injury when the robot collides accidentally with people near the robot after the operating state of the robot switches to the standing state. That is to say, the airbag state can be set according to the switching of the operating state of the robot, which can ensure the normal movement of the robot while improving the safety of the robot.

[0115] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of the above method are implemented. Among them, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical discs, DVDs, CD-ROMs, microdrives, and magneto-optical discs, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0116] The present application also provides an electronic device. The robot stores at least one instruction, and the at least one instruction is loaded and executed by the processor to perform the method steps of the above Figures 1 - 10 as shown in the embodiment. The specific execution process can be referred to Figures 1 - 10 the specific description of the embodiment shown, which will not be elaborated here.

[0117] Please refer to Figure 16 which is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 16 shown, the electronic device 1000 may include: at least one processor 1001, at least one network interface 1004, a user interface 1003, a memory 1005, and at least one communication bus 1002.

[0118] Among them, the communication bus 1002 is used to implement connection communication between these components.

[0119] Among them, the user interface 1003 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface.

[0120] Among them, the network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0121] Among them, the processor 1001 may include one or more processing cores. The processor 1001 connects various parts within the entire electronic device 1000 through various interfaces and circuits. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 1005, and by calling the data stored in the memory 1005, it performs various functions of the electronic device 1000 and processes data. Optionally, the processor 1001 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 1001 may integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 1001 and may be implemented separately by a single chip.

[0122] Among them, the memory 1005 may include random access memory (RAM) and may also include read-only memory. Optionally, the memory 1005 includes a non-transitory computer-readable storage medium. The memory 1005 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 1005 may include a program storage area and a data storage area. Among them, the program storage area can store instructions for implementing the operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area can store the data involved in the above-mentioned various method embodiments. Optionally, the memory 1005 may also be at least one storage device located far from the aforementioned processor 1001. As Figure 16 shown, the memory 1005, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a robot positioning application program.

[0123] In Figure 16In the mobile terminal 1000 shown, the user interface 1003 is mainly used to provide an interface for the user to input and obtain the data input by the user; and the processor 1001 can be used to call the generated robot running application program stored in the memory 1005 and specifically perform the following operations:

[0124] Obtain the current running state and the next running state of the robot;

[0125] Adjust the airbag state of the airbag based on the current running state and the next running state, and operate with the adjusted airbag state, where the airbag state includes an inflated state or a deflated state.

[0126] In one embodiment, when the processor 1001 executes adjusting the airbag state of the airbag based on the current running state and the next running state during the startup process of the robot, it specifically performs the following operations:

[0127] Before the robot starts, set the current running state and the next running state of the robot to the lying-down state, and keep the airbag state of the airbag in the deflated state;

[0128] After the robot starts, control the robot to switch from the lying-down state to the standing state, and control the inflator to inflate the airbag to obtain the airbag state of the airbag in the inflated state. The airbag includes the airbags on the legs and the back of the robot.

[0129] In one embodiment, when the processor 1001 executes adjusting the airbag state of the airbag based on the current running state and the next running state during the running process of the robot, it specifically performs the following operations:

[0130] If the current running state is the same as the next running state, keep the airbag state of the airbag unchanged;

[0131] If the current running state is different from the next running state, change the airbag state of the airbag.

[0132] In one embodiment, when the processor 1001 executes if the current running state is the same as the next running state, keep the airbag state of the airbag unchanged, it specifically performs the following operations:

[0133] If the current running state is the standing state and the next running state is the standing state, keep the airbag state of the airbag in the inflated state;

[0134] If the current running state is a non-standing state and the next running state is a non-standing state, keep the airbag state of the airbag in the deflated state.

[0135] In one embodiment, when the processor 1001 executes the operation of changing the airbag state of the airbag if the current operating state is different from the next operating state, the following specific operations are performed:

[0136] If the current operating state is the standing state and the next operating state is the non-standing state, control the air pump to pump air out of the airbag, so that the airbag state of the airbag is the air-extracted state;

[0137] If the current operating state is the non-standing state and the next operating state is the standing state, control the inflator to inflate the airbag, so that the airbag state of the airbag is the inflated state.

[0138] In one embodiment, when the processor 1001 executes the operation that the non-standing state is at least one of the stopped state, the walking state, the running state, or the jumping state, and if the current operating state is the standing state and the next operating state is the non-standing state, control the air pump to pump air out of the airbag, so that the airbag state of the airbag is the air-extracted state, the following specific operations are performed:

[0139] If the current operating state is the standing state and the next operating state is the non-standing state, control the air pump to pump air out of the airbag, so that the airbag state of the airbag is the air-extracted state, and the airbag includes the airbags of the legs and the back of the robot.

[0140] In one embodiment, when the processor 1001 executes the operation that the non-standing state is the lying-down state, and if the current operating state is the standing state and the next operating state is the non-standing state, control the air pump to pump air out of the airbag, so that the airbag state of the airbag is the air-extracted state, the following specific operations are performed:

[0141] If the current operating state is the standing state and the next operating state is the non-standing state, control the air pump to pump air out of the airbag, so that the airbag state of the airbag is the air-extracted state, and the airbag is the airbag of the legs of the robot.

[0142] In one embodiment, when the processor 1001 executes the operation that the non-standing state is at least one of the stopped state, the walking state, the running state, or the jumping state, and if the current operating state is the non-standing state and the next operating state is the standing state, control the inflator to inflate the airbag, so that the airbag state of the airbag is the inflated state, the following specific operations are performed:

[0143] If the current operating state is a non-standing state and the next operating state is a standing state, then control the inflator to inflate the airbag, so that the airbag state of the airbag is an inflated state. The airbag includes the airbags on the legs and the back of the robot.

[0144] In one embodiment, when the processor 1001 executes that the non-standing state is a lying state, if the current operating state is a non-standing state and the next operating state is a standing state, then control the inflator to inflate the airbag, so that the airbag state of the airbag is an inflated state, the specific operation is as follows: If the current operating state is a non-standing state and the next operating state is a standing state, then control the inflator to inflate the airbag, so that the airbag state of the airbag is an inflated state, and the airbag is the airbag on the leg of the robot.

[0145] In one embodiment, when the processor 1001 executes that the non-standing state includes at least one of a lying state, a stop state, a walking state, a running state, and a jumping state, and if the current operating state is a non-standing state and the next operating state is a non-standing state, then keep the airbag state of the airbag as a deflated state, the specific operation is as follows:

[0146] If the current operating state is a lying state and the next operating state is a non-standing state and different from the current operating state, then control the air extractor to extract air from the airbag, and the airbag is the airbag on the back of the robot;

[0147] If the current operating state is a non-standing state and different from the next operating state, and the next operating state is a lying state, then control the inflator to inflate the airbag, and the airbag is the airbag on the back of the robot.

[0148] By adopting the embodiment of the present application, the current operating state and the next operating state of the robot are obtained. If the current operating state is the standing state and the next operating state is also the standing state, it is only necessary to keep the airbags on the legs and the back of the robot in the inflated state, which can reduce the degree of injury when the robot collides accidentally with a person near the robot in a continuous standing state. If the non-standing state includes at least one of the stop state, walking state, running state, and jumping state, the current operating state is the non-standing state, and the next operating state is the non-standing state, keeping the airbags on the legs and the back of the robot in the deflated state can enable the robot to move dynamically without being affected when in a continuous non-standing state. If the non-standing state includes at least one of the lying state, stop state, walking state, running state, and jumping state, the current operating state is the lying state, and the next operating state is the non-standing state and different from the current operating state, then controlling the air extractor to extract air from the airbag on the back of the robot can enable the robot's dynamic activities to be unaffected after switching from the lying state to any of the other non-standing states. If the non-standing state includes at least one of the lying state, stop state, walking state, running state, and jumping state, the current operating state is the non-standing state and different from the next operating state, and the next operating state is the lying state, then controlling the inflator to inflate the airbag on the back of the robot, or, if the current operating state is the standing state and the next operating state is the lying state among the non-standing states, then controlling the air extractor to extract air from the airbag on the leg of the robot can reduce the degree of injury when the back of the robot collides accidentally with a person near the robot after the robot switches from the standing state to the lying state. If the current operating state is the standing state and the next operating state is one of the stop state, walking state, running state, or jumping state among the non-standing states, then controlling the air extractor to extract air from the airbags on the legs and the back of the robot can enable the robot's dynamic activities to be unaffected when in any of the stop state, walking state, running state, or jumping state among the non-standing states. If the non-standing state is at least one of the stop state, walking state, running state, and jumping state, if the current operating state is the non-standing state and the next operating state is the standing state, controlling the inflator to inflate the airbags on the legs and the back of the robot, or, if the current operating state is the lying state and the next operating state is the standing state, then controlling the inflator to inflate the legs of the robot can make the airbags on the legs and the back of the robot both in the inflated state, which can reduce the degree of injury when the robot collides accidentally with a person near the robot after the operating state of the robot switches to the standing state. That is to say, the airbag state can be set according to the switching of the robot's operating state, which can ensure the normal movement of the robot while improving the safety of the robot.

[0149] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above various methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, or a random access memory, etc.

[0150] The above-disclosed are only the preferred embodiments of the present application. Of course, the scope of the rights of the present application cannot be limited thereby. Therefore, equivalent changes made according to the claims of the present application still fall within the scope covered by the present application.

Claims

1. A method for a robot to operate, characterized in that, applied to a robot, the robot is equipped with an airbag, an inflator and an air extractor, the inflator is used to inflate the airbag, the air extractor is used to extract air from the airbag, and the method includes: Obtain the current operating state and the next operating state of the robot; Adjust the airbag state of the airbag based on the current operating state and the next operating state, and operate with the adjusted airbag state, where the airbag state includes an inflated state or an air-extracted state; During the startup process of the robot, the adjusting the airbag state of the airbag based on the current operating state and the next operating state includes: Before the robot starts, set the current operating state and the next operating state of the robot to the lying-down state, and keep the airbag state of the airbag in the air-extracted state; After the robot starts, control the robot to switch from the lying-down state to the standing state, and control the inflator to inflate the airbag, so that the airbag state of the airbag is in the inflated state, and the airbag includes the airbags on the legs and the back of the robot.

2. The method according to claim 1, characterized in that, During the operation of the robot, the adjusting the airbag state of the airbag based on the current operating state and the next operating state includes: If the current operating state is the same as the next operating state, keep the airbag state of the airbag unchanged; If the current operating state is different from the next operating state, change the airbag state of the airbag.

3. The method according to claim 2, characterized in that, The if the current operating state is the same as the next operating state, keep the airbag state of the airbag unchanged, includes: If the current operating state is the standing state and the next operating state is the standing state, keep the airbag state of the airbag in the inflated state; If the current operating state is a non-standing state and the next operating state is a non-standing state, keep the airbag state of the airbag in the air-extracted state.

4. The method according to claim 2, characterized in that, The if the current operating state is different from the next operating state, change the airbag state of the airbag, includes: If the current operating state is the standing state and the next operating state is a non-standing state, control the air extractor to extract air from the airbag, so that the airbag state of the airbag is in the air-extracted state; If the current operating state is a non-standing state and the next operating state is the standing state, control the inflator to inflate the airbag, so that the airbag state of the airbag is in the inflated state.

5. The method according to claim 4, characterized in that, The non-standing state is at least one of a stopped state, a walking state, a running state or a jumping state, and the if the current operating state is the standing state and the next operating state is a non-standing state, control the air extractor to extract air from the airbag, so that the airbag state of the airbag is in the air-extracted state, includes: If the current operating state is the standing state and the next operating state is a non-standing state, control the air extractor to extract air from the airbag, so that the airbag state of the airbag is the air extraction state. The airbag includes the airbag on the leg of the robot and the airbag on the back.

6. The method according to claim 4, wherein, the non-standing state is the lying down state. If the current operating state is the standing state and the next operating state is a non-standing state, control the air extractor to extract air from the airbag, so that the airbag state of the airbag is the air extraction state, including: If the current operating state is the standing state and the next operating state is a non-standing state, control the air extractor to extract air from the airbag, so that the airbag state of the airbag is the air extraction state. The airbag is the airbag on the leg of the robot.

7. The method according to claim 4, the non-standing state is at least one of the stopped state, the walking state, the running state, and the jumping state. If the current operating state is a non-standing state and the next operating state is the standing state, control the air inflator to inflate the airbag, so that the airbag state of the airbag is the inflation state. including: If the current operating state is a non-standing state and the next operating state is the standing state, control the air inflator to inflate the airbag, so that the airbag state of the airbag is the inflation state. The airbag includes the airbag on the leg of the robot and the airbag on the back.

8. The method according to claim 4, wherein, the non-standing state is the lying down state. If the current operating state is a non-standing state and the next operating state is the standing state, control the air inflator to inflate the airbag, so that the airbag state of the airbag is the inflation state, including: If the current operating state is a non-standing state and the next operating state is the standing state, control the air inflator to inflate the airbag, so that the airbag state of the airbag is the inflation state. The airbag is the airbag on the leg of the robot.

9. The method according to claim 3, wherein, the non-standing state includes at least one of the lying down state, the stopped state, the walking state, the running state, and the jumping state. If the current operating state is a non-standing state and the next operating state is a non-standing state, keep the airbag state of the airbag as the air extraction state, including: If the current operating state is the lying down state and the next operating state is a non-standing state and different from the current operating state, control the air extractor to extract air from the airbag. The airbag is the airbag on the back of the robot; If the current operating state is a non-standing state and different from the next operating state, and the next operating state is the lying down state, control the air inflator to inflate the airbag. The airbag is the airbag on the back of the robot.

10. A robot operating device, wherein, Applied to a robot, the robot is equipped with an airbag, an inflator, and an air extractor. The inflator is used to inflate the airbag, and the air extractor is used to extract air from the airbag. The device includes: A state acquisition module, configured to acquire the current operating state and the next operating state of the robot; An airbag adjustment module, configured to adjust the airbag state of the airbag based on the current operating state and the next operating state, and operate with the adjusted airbag state. The airbag state includes an inflated state or an air-extracted state; During the startup process of the robot, the airbag adjustment module includes: A first startup unit, configured to set the current operating state and the next operating state of the robot to a lying-down state before the robot starts up, and keep the airbag state of the airbag in an air-extracted state; A second startup unit, configured to control the robot to switch from the lying-down state to a standing state after the robot starts up, and control the inflator to inflate the airbag, so that the airbag state of the airbag is in an inflated state. The airbag includes the airbags on the legs and the back of the robot.

11. A computer storage medium, characterized in that, the computer storage medium stores multiple instructions, and the instructions are adapted to be loaded and executed by a processor to perform the method steps of any one of claims 1-9.

12. An electronic device, characterized in that, it includes: a processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to perform the method steps of any one of claims 1-9.

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