A mobile robot control method, posture adjustment method, system, robot and computer storage medium

Abstract

The present invention relates to the field of robotics, and in particular to a method for controlling a movable robot, a method for adjusting a posture, a system, a robot and a computer storage medium; wherein the method for controlling a movable robot comprises the following steps: detecting the relative positional relationship between a main body and a mobile module in the movable robot to obtain current posture information of the movable robot; detecting the positional relationship between the main body and / or at least one mobile module in the movable robot relative to a movable plane in which the main body and / or at least one mobile module are located to obtain current positional state information of the movable robot; judging the overall state of the movable robot according to the current posture information and the current positional state information; when the overall state is judged to be an abnormal overall state, adjusting the relative positional relationship between the main body and the mobile module or the movement mode of the mobile module to adjust the movable robot to a preset movement posture adapted to the current movable plane or to allow the movable robot to escape from the abnormal overall state.

Description

Technical field

[0001] The present invention relates to the field of robotics technology, and in particular to a movable robot control method, a posture adjustment method, a system, a robot, and a computer storage medium. [Background Technology]

[0002] With the progress of society and the advancement of artificial intelligence technology, robots have begun to develop towards intelligent and anthropomorphic directions. Robotic products have begun to enter home scenes, especially robots that have the role of children's education and companionship, which are highly sought after by parents and the market. However, existing robots are not flexible enough and cannot adapt to overly complex home usage scenarios. [Summary of the invention]

[0003] In order to solve the problem that existing robots are not flexible enough in movement, the present invention provides a movable robot control method, a posture adjustment method, a system, a robot and a computer storage medium.

[0004] In order to solve the above technical problems, the technical solution of the present invention is to provide a method for controlling a mobile robot, wherein the mobile robot includes a main body and at least one mobile module, wherein the mobile module is movably connected to the main body and drives the mobile robot to move. The method for controlling the mobile robot includes at least the following steps:

[0005] Detecting the relative position relationship between the main body and the mobile module in the mobile robot to obtain the current posture information of the mobile robot;

[0006] Detecting a positional relationship of a main body and / or at least one mobile module in the mobile robot relative to a movable plane on which the main body and / or at least one mobile module are located to obtain current position state information of the mobile robot;

[0007] Determining the overall state of the mobile robot according to the current posture information and the current position state information;

[0008] When the overall state is judged to be an abnormal overall state, the movable robot is adjusted to a preset moving posture that adapts to the current movable plane or the movable robot is allowed to escape from the abnormal overall state by adjusting the relative position relationship between the main body and the mobile module or the moving mode of the mobile module.

[0009] Preferably, the abnormal overall state includes a tipping or tilting state; when the movable robot is in a tipping or tilting state, the main body and the mobile module of the movable robot can rotate relative to each other to change the center of mass position of the movable robot, and / or, the movable robot moves through at least one mobile module to change the tipping or tilting state of the movable robot.

[0010] Preferably, the abnormal overall state also includes a state in which the movable robot is in a state in which the current posture is incompatible with the driving path; when the movable robot is in this state, the movable robot can be deformed from the current posture to a posture that matches the current driving path by combining the relative rotation of the main body and the mobile module and the mobility of the mobile module to match the current driving path.

[0011] Preferably, the current posture information of the movable robot includes an angle between a main body and at least one movable module.

[0012] Preferably, obtaining the current position state information of the movable robot includes the following steps:

[0013] Detecting a positional relationship of a main body or at least one of the mobile modules in the mobile robot relative to a current movable plane to obtain first position state information, and acquiring current posture information of the mobile robot;

[0014] Calculate the second position state information of the main body and / or other mobile modules according to the first position state information and the current posture information of the movable robot;

[0015] The position state information of the movable robot is obtained according to the first position state information and the second position state information.

[0016] Preferably, before calculating and obtaining the second position state information of the main body and / or other mobile modules, the method further includes the following steps:

[0017] Obtaining size information of a main body and a mobile module of the mobile robot;

[0018] The second position state information of the main body and / or other mobile modules is calculated based on the first position state information and the size information of the main body and the mobile module.

[0019] Preferably, the position status information includes centroid angle information of the main body and / or other mobile modules.

[0020] Preferably, the specific steps of obtaining the current posture information of the mobile robot are as follows:

[0021] Detecting the position relationship of the main body of the movable robot relative to the current movable plane to obtain the first posture state information;

[0022] Detecting a positional relationship of a mobile module in the mobile robot relative to a current movable plane to obtain second posture state information;

[0023] The current posture information of the mobile robot is obtained according to the first posture state information and the second posture state information.

[0024] Preferably, the dumping state includes at least two types. When the overall state is the dumping state, the following steps are further included before changing the overall state of the movable robot:

[0025] determining the type of the dumping state;

[0026] The types of the tipping state include the movable robot tipping sideways and the movable robot turning upside down.

[0027] Preferably, the tilted state refers to the reduction of the grip of at least one mobile module of the movable robot due to the tilt of the movable robot. When the overall state is the tilted state, the movement mode of the mobile module is adjusted to change the tilted state of the movable robot; or, the center of mass position of the movable robot is changed by adjusting the relative position of the main body and the mobile module, so as to allow the movable robot to escape from the tilted state.

[0028] Preferably, the adjusting the relative position relationship between the main body and the mobile module comprises the following steps:

[0029] The robot comprises two parallel mobile modules, each of which comprises a front wheel and a rear wheel, one of which is a driving wheel; the robot's driving postures include four-wheel driving and two-wheel driving. When the robot is in four-wheel driving, it moves via the front wheels or rear wheels of the two mobile modules;

[0030] According to the actual mass distribution of the mobile robot, the center of mass curve of the main body is calculated, and the main body and the mobile module are rotated relative to each other to position the main body at the angle where the angle between the center of mass of the main body and the rear wheel axis of the mobile module and the normal of the mobile robot's movable plane is the smallest;

[0031] Directly drive the driving wheel to accelerate toward the center of mass with full torque, thus realizing the posture transformation of the mobile robot;

[0032] Alternatively, the driving wheel is first driven in the opposite direction of the center of mass with full torque for a preset time, and then accelerated to the center of mass with full torque. By utilizing the conservation of angular momentum, the center of mass can move around the wheel axis in the opposite direction of gravity, thereby realizing the posture transformation of the movable robot and changing the driving posture of the robot from four-wheel driving to two-wheel driving.

[0033] Preferably, the adjusting the relative position relationship between the main body and the mobile module comprises the following steps:

[0034] The robot comprises two parallel mobile modules, each of which comprises a front wheel and a rear wheel, one of which is a driving wheel; the robot's driving postures include four-wheel driving and two-wheel driving. When the robot is in four-wheel driving, it moves via the front wheels or rear wheels of the two mobile modules;

[0035] Based on the actual mass distribution of the mobile robot, the center of mass curve of the main body is calculated. The main body and the mobile module are rotated relative to each other, and the main body is positioned in a posture where it is tilted downward through the wheel axis and the angle between the main body and the ground normal is the largest.

[0036] The control body accelerates the lifting movement, and when the angle between the center of mass of the body and the axis of the front or rear wheel of the mobile module and the normal of the movable plane of the movable robot is the smallest, the relative posture of the body and the mobile module is locked, and the center of mass moves around the axis of the front or rear wheel against the direction of gravity by relying on the conservation of angular momentum and momentum conservation, thereby realizing the posture transformation of the movable robot and changing the driving posture of the robot from four-wheel driving to two-wheel driving.

[0037] Another technical solution provided by the present invention to solve the above-mentioned technical problems is to provide a method for adjusting the posture of a movable robot, wherein the movable robot includes a main body and at least one mobile module, and also includes a main control module for controlling the main body and the mobile module. The mobile module is movably connected to the main body and drives the movable robot to move. The robot can control at least a part of the mobile module to be lifted off the ground through the main control module.

[0038] Another technical solution provided by the present invention to solve the above technical problems is to provide a mobile robot control system for controlling a mobile robot, wherein the mobile robot includes two movably connected modules, at least one of which is movable and drives the mobile robot to move, and is characterized in that: the mobile robot control system includes a main control module;

[0039] The main control module obtains component posture information by detecting the relative position relationship of the two modules, and the main control module obtains position status information by detecting the position relationship of at least one module in the mobile robot relative to the ground;

[0040] The overall state of the movable robot is judged based on the component posture information and the position status information. When the overall state is judged to be an abnormal overall state, the relative position relationship between the two modules or the movement mode of the mobile module is adjusted to adjust the movable robot to a preset movement posture that is adapted to the current movable plane or to allow the movable robot to escape from the abnormal overall state.

[0041] Preferably, it further comprises a power assembly, which is electrically connected to the main control module. The main control module adjusts the relative position relationship between the two modules or the movement mode of the mobile module by controlling the power assembly.

[0042] Preferably, it further comprises a detection component, which is electrically connected to the main control module. The detection component comprises a plurality of monitoring components, and each of the modules is provided with the detection component.

[0043] Another technical solution provided by the present invention to solve the above technical problems is to provide a robot, which includes a control system and a torso module and a leg module that are movably connected. The leg module can drive the torso module to move, and the control method of the robot is the above-mentioned movable robot control method.

[0044] Preferably, the leg module includes at least one leg assembly, and the leg assembly further includes a plurality of connected moving elements. The robot is also provided with a control system, which can control at least one moving element to switch between a state of being lifted off the ground and a state of being in contact with the ground to change the overall state of the robot.

[0045] Preferably, the torso module includes a first motion component, the first motion component is electrically connected to the control system, and the output end of the first motion component is transmission-connected to the leg module.

[0046] Preferably, the moving element comprises at least a front wheel and a rear wheel spaced apart from each other, and a driving member is provided corresponding to the front wheel and / or the rear wheel to drive the front wheel and / or the rear wheel to rotate.

[0047] Another technical solution provided by the present invention to solve the above technical problems is to provide a computer medium, including a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the program, the movable robot control method as described in any one of the above items is implemented.

[0048] Compared with the prior art, the mobile robot control method, posture adjustment method, system, robot and computer storage medium provided by the present invention have the following advantages:

[0049] 1. The control method of the movable robot of the present invention can obtain the current posture information of the movable robot by detecting the relative position relationship between the main body and the mobile module in the movable robot; obtain the current position state information of the movable robot by detecting the position relationship between the main body and / or at least one mobile module in the movable robot relative to the movable plane in which it is located; and judge the overall state of the movable robot according to the current posture information and the current position state information; it can be understood that this design is helpful in assisting in judging whether the movable robot is in an abnormal state, and provides support for subsequent adjustment of the movable robot; in addition, when the overall state is judged to be an abnormal overall state, the relative position relationship between the main body and the mobile module or the movement mode of the mobile module can be adjusted to adjust the movable robot to a preset movement posture adapted to the current movable plane or to make the movable robot out of the abnormal overall state; for example, adjusting the relative position relationship between the main body and the mobile module includes keeping the main body still and only lifting the mobile module, or it can be By adjusting the main movable module, the movable robot is adjusted from a lying state to a standing state; and the movement mode of the mobile module can be adjusted to adjust the movement mode of a single or multiple mobile modules. For example, when there are two grounded mobile modules, one mobile module can be locked and the other mobile module can be allowed to operate normally to realize the rotation of the movable robot; the speed of different mobile modules can also be adjusted separately; all mobile devices can also be adjusted at the same time; it can be understood that in the present method, there is not a single method to adjust the movable robot and make it out of the abnormal overall state; it can be achieved by adjusting the relative position relationship between the main body and the mobile module, or by adjusting the movement mode of the mobile module, or it can be achieved by using both methods at the same time; therefore, the movements of the movable robot controlled by the present mobile robot control method can be more flexible and changeable, so as to better adapt to the complex environment within the home, and at the same time, the movable robot can also better interact with the user.

[0050] 2. In the movable robot control method of the present invention: the abnormal overall state includes a tipping or tilting state; when the movable robot is in a tipping or tilting state, the main body and the mobile module of the movable robot can rotate relative to each other to change the center of mass position of the robot, and / or, the movable robot moves through at least one mobile module to change the tipping or tilting state of the movable robot. It is understandable that when the mobile robot is driving in a house, due to the complexity of the environment, it is inevitable that it will enter a tipping or tilting state; and if the mobile robot is not adjusted at this time to restore it to a normal state, the mobile module of the mobile robot will continue to idle, resulting in energy waste; it is understandable that when the mobile robot enters a tipping or tilting state, it means that the center of mass position of the mobile robot has shifted, which is different from the center of mass position under normal operating conditions; therefore, in this solution, the main body and the mobile module can rotate relative to each other to change the center of mass position of the mobile robot, and the mobile robot can be quickly restored to a supporting driving state by changing the center of mass position of the mobile robot; in addition, if the robot has only entered a simple tilting state, for example, due to the uneven ground, causing the mobile module on one side to be lifted, the mobile robot can be restored to a normal state by further changing the moving mode of the mobile module.

[0051] 3. The abnormal overall state described in the mobile robot control method of the present invention also includes a state in which the mobile robot is in a state where its current posture is incompatible with its travel path. When the mobile robot is in this state, the relative rotation of the main body and the mobile module, as well as the mobility of the mobile module, can be combined to allow the mobile robot to transform from its current posture to a posture that matches the current travel path, thereby matching the current travel path. It is understandable that the environment within a home is highly complex, and the mobile robot may encounter a situation in which its current posture cannot cross the area ahead during travel. For example, there is a step ahead. In this case, the mobile robot can transform from its current posture to a posture that matches the current travel path, thereby matching the current travel path, by combining the relative rotation of the main body and the mobile module, as well as the mobility of the mobile module. This design can further improve the mobile robot's ability to adapt to complex environments, greatly enhancing the flexibility, adaptability, and reliability of the robot's movements, and further enhancing the robot's expressiveness.

[0052] 4. In the movable robot control method of the present invention, the current posture information of the movable robot includes the angle between the main body and at least one mobile module; it can be understood that the adjustment method of the movable robot in this method includes adjusting the relative position relationship between the main body and the mobile module. Therefore, by obtaining the angle between the main body and at least one mobile module, it is convenient to achieve precise adjustment of the relative position of the main body and the mobile module, which is beneficial to improving the accuracy and reliability of the movable robot control method.

[0053] 5. In the mobile robot control method of the present invention, obtaining the current position state information of the mobile robot includes the following steps: detecting the positional relationship of the main body or at least one mobile module of the mobile robot relative to the current movable plane to obtain first position state information, and obtaining the current posture information of the mobile robot; calculating the second position state information of the main body and / or other mobile modules based on the first position state information and the current posture information of the mobile robot; and obtaining the position state information of the mobile robot based on the first position state information and the second position state information. It can be understood that compared with the existing method of comparing each module of the mobile robot with the current movable plane to obtain the position state information of the mobile robot, the present method first obtains the positional relationship between any module and the current movable plane to obtain the first position state information, and then matches the first position state information with the current posture information of the mobile robot. This method can quickly obtain the relative position information of other modules, which is conducive to improving the computational efficiency of the present mobile robot control method.

[0054] 6. The mobile robot control method of the present invention further includes the following steps, before calculating the second position state information of the main body and / or other mobile modules: obtaining dimensional information of the main body and mobile modules of the mobile robot. It is understood that first obtaining the dimensional information of the main body and mobile modules can help the mobile robot subsequently obtain position information. Furthermore, the second position state information of the main body and / or other mobile modules is calculated based on the first position state information and the dimensional information of the main body and mobile modules. It is understood that this design helps improve the accuracy of the position information obtained by the mobile robot.

[0055] 7. In the mobile robot control method of the present invention, the position state information includes information about the center of mass angle of the main body and / or other mobile modules. It will be appreciated that adjusting the mobile robot in this method includes adjusting the center of mass position of the mobile robot. Therefore, by obtaining information about the center of mass angle of the main body and / or other mobile modules when obtaining the position state information, information support can be provided for adjusting the center of mass position of the mobile robot.

[0056] 8. In the mobile robot control method of the present invention, the specific steps for obtaining the current posture information of the mobile robot are as follows: detecting the positional relationship of the main body of the mobile robot relative to the current movable plane to obtain the first posture state information; detecting the positional relationship of the mobile module of the mobile robot relative to the current movable plane to obtain the second posture state information; and obtaining the current posture information of the mobile robot based on the first posture state information and the second posture state information. It is understandable that the main body and the mobile module of the mobile robot targeted in this method can be relatively movable. Therefore, obtaining the first posture state information and the second posture state information for the main body and the mobile module respectively and then merging them into the current posture information of the mobile robot can effectively improve the accuracy of the obtained current posture information of the mobile robot and provide support for subsequent actions.

[0057] 9. In the mobile robot control method of the present invention, there are at least two types of tipping states. When the overall state is a tipping state, the following step is further included before changing the overall state of the mobile robot: determining the type of tipping state. It is understood that by determining the type of tipping state in advance, targeted adjustment strategies can be adopted for different tipping states, thereby improving the efficiency and success rate of the mobile robot's escape from abnormal states. The types of tipping states include the mobile robot tipping sideways and the mobile robot flipping upside down. It is understood that tipping sideways or flipping upside down are two common tipping states that a mobile robot may experience during operation.

[0058] 10. In the mobile robot control method of the present invention, a tilted state refers to a state in which the grip of at least one mobile module of the mobile robot is reduced due to tilt. When the overall state is tilted, the mobile module's movement mode is adjusted to change the tilted state of the mobile robot; or, the center of mass of the mobile robot is changed by adjusting the relative position of the main body and the mobile module, thereby allowing the mobile robot to escape the tilted state. It is understandable that when the mobile robot is in a tilted state, it is not necessary to adopt overly complex operations. One can first try to correct the tilted state by simply adjusting the movement mode of the mobile module. Alternatively, the mobile robot can be freed from the tilted state by changing the center of mass of the mobile robot, which will further improve the robot's flexibility.

[0059] 11. In the control method of a mobile robot of the present invention, adjusting the relative position relationship between the main body and the mobile module includes the following steps: the robot includes two parallel mobile modules, the mobile modules include front wheels and rear wheels, one of which is a drive wheel; the robot's driving posture includes four-wheel driving and two-wheel driving, and when the robot is in four-wheel driving, it moves through the front wheels or rear wheels of the two mobile modules; according to the actual mass distribution of the mobile robot, the center of mass curve of the main body is calculated, and the main body and the mobile module are rotated relative to each other, and the main body is positioned at an angle where the angle between the center of mass of the main body and the axis of the rear wheel of the mobile module and the normal of the movable plane of the mobile robot is the smallest; directly driving the drive wheel to accelerate toward the side where the center of mass is located with full torque to achieve the posture change of the mobile robot; or, first driving the drive wheel with full torque in the opposite direction to the center of mass for a preset time, and then accelerating it with full torque toward the center of mass, using the conservation of angular momentum to achieve the center of mass moving around the wheel axis in the opposite direction of gravity to achieve the posture change of the mobile robot, and change the driving posture of the robot from four-wheel driving to two-wheel driving. It is understandable that there is no single way for the mobile robot to change its posture. A corresponding way can be adopted according to the actual situation, which is highly flexible.

[0060] 12. In the control method of a mobile robot of the present invention, adjusting the relative position relationship between the main body and the mobile module includes the following steps: the robot includes two parallel mobile modules, the mobile modules including front wheels and rear wheels, one of which is a drive wheel; the robot's driving posture includes four-wheel driving and two-wheel driving, and when the robot is in four-wheel driving, it moves via the front wheels or rear wheels of the two mobile modules; calculating the center of mass curve of the main body according to the actual mass distribution of the mobile robot, and causing the main body and the mobile module to rotate relative to each other, positioning the main body in a posture in which it tilts downward through the wheel axis and the angle between the main body and the ground normal is the largest; controlling the main body to accelerate and lift the movement, and locking the relative posture of the main body and the mobile module when the angle between the line passing through the center of mass of the main body and the axis of the front or rear wheel of the mobile module and the normal of the movable plane of the mobile robot is the smallest, relying on the conservation of angular momentum and the conservation of momentum to achieve the center of mass movement around the axis of the front or rear wheel against the direction of gravity, thereby realizing the posture transformation of the mobile robot, and transforming the driving posture of the robot from four-wheel driving to two-wheel driving. It is understandable that there is no single way for the mobile robot to change its posture. A corresponding way can be adopted according to the actual situation, which is highly flexible.

[0061] 13. The present invention also provides a method for adjusting the posture of a mobile robot. The mobile robot comprises a main body and at least one mobile module, and further comprises a main control module for controlling the main body and the mobile module. The mobile module is movably connected to the main body and drives the mobile robot to move. The main control module can control at least a portion of the mobile module to lift the robot off the ground. It will be appreciated that the mobile robot control method of the present invention is not limited to escaping abnormal conditions but can also be used to adjust the robot's posture in normal conditions.

[0062] 14. The present invention also provides a mobile robot control system for controlling a mobile robot, wherein the mobile robot includes two movably connected modules, at least one of which is movable and drives the mobile robot to move, and the mobile robot control system includes a main control module; the main control module obtains component posture information by detecting the relative position relationship of the two modules, and the main control module obtains position status information by detecting the position relationship of at least one module in the mobile robot relative to the ground; the overall state of the mobile robot is determined based on the component posture information and the position status information, and when the overall state is determined to be an abnormal overall state, the relative position relationship of the two modules or the movement mode of the mobile module is adjusted to adjust the mobile robot to a preset movement posture that adapts to the current movable plane or to allow the mobile robot to escape from the abnormal overall state. It can be understood that this mobile robot control system has the same beneficial effects as the above-mentioned mobile robot control method, which will not be described in detail here.

[0063] 15. The mobile robot control system of the present invention further comprises a power assembly, and the main control module adjusts the relative position relationship between the two modules or the movement mode of the mobile module by controlling the power assembly.

[0064] 16. The mobile robot control system of the present invention further includes a detection assembly electrically connected to the main control module. The detection assembly includes multiple monitoring elements, each of which is provided on the modules. As will be appreciated, by providing a detection element on each module, the operating status of each module can be obtained in real time, effectively improving the accuracy of control over the mobile robot.

[0065] 17. The present invention further provides a robot comprising a trunk module and leg modules that are movably connected, and a control module for controlling the trunk module and leg modules, wherein the leg module is capable of driving the trunk module to move. The robot is controlled by the aforementioned method for controlling a movable robot. It is understood that the robot has the same beneficial effects as the aforementioned method for controlling a movable robot, and further description thereof is omitted here.

[0066] 18. A robot provided by an embodiment of the present invention includes a control system, a trunk module, and leg modules connected to the trunk module. The control system can control at least one moving element to switch between a state of being lifted off the ground and a state of being in contact with the ground, thereby changing the robot's overall state and making the robot's movements more flexible and varied. For example, when all moving elements are in contact with the ground, the robot is in a prone position, resembling a cute bionic pet with all its feet on the ground. When some moving elements are lifted off the ground, the robot is in a standing position, resembling a cute bionic pet with some feet standing and some feet raised. This makes the robot's movements more flexible and diverse, providing a foundation for further advancements in human-machine interaction. In addition, the control system can control at least one moving element to switch between a state of being lifted off the ground and a state of being in contact with the ground, allowing the robot to adapt to more complex environments. For example, the robot can control some moving elements to lift off the ground to circumvent obstacles, or switch a lifted moving element to a state of being in contact with the ground when the robot is about to tilt. Thus, the control system can control at least one moving element to switch between a state of being lifted off the ground and a state of being in contact with the ground to prevent the robot from tipping over.

[0067] 19. The robot provided by the embodiment of the present invention, by setting a first motion component with an output end transmission-connected to the leg module, enables the leg module to move relative to the torso module, so that the robot can realize the function of the torso module and the leg module to move separately or realize the movement of only one of the two modules as needed, thereby further effectively improving the robot's movement, flexibility of action and adaptability to the environment, and further enhancing the robot's expressiveness, making the robot more in line with the requirements of bionics.

[0068] 20. The present invention also provides a computer medium having the same beneficial effects as the above-mentioned movable robot control method, which will not be described in detail here.

Brief Description of the Drawings

[0069] Figure 1 is a flow chart of a mobile robot control method provided by a first embodiment of the present invention;

[0070] Figure 2 is a flowchart of step S1 of the mobile robot control method provided by the first embodiment of the present invention;

[0071] Figure 3 is a flowchart of step S2 of the mobile robot control method provided by the first embodiment of the present invention;

[0072] Figure 4 is another flow chart of step S2 of the mobile robot control method provided by the first embodiment of the present invention;

[0073] Figure 5 is a flow chart of step S3 of the mobile robot control method provided by the first embodiment of the present invention;

[0074] Figure 6 is a flowchart of step S32 of the mobile robot control method provided by the first embodiment of the present invention;

[0075] Figure 7 This is another flow chart of step S32 of the mobile robot control method provided by the first embodiment of the present invention.

[0076] Figure 8 It is a schematic diagram of adjusting the robot posture in the mobile robot control method provided by the first embodiment of the present invention.

[0077] Figure 9 2 is a schematic diagram of step S32 of the mobile robot control method provided by the first embodiment of the present invention.

[0078] Figure 10 2 is another schematic diagram of step S32 of the mobile robot control method provided by the first embodiment of the present invention.

[0079] Figure 11 This is another schematic diagram of adjusting the robot posture in the mobile robot control method provided by the first embodiment of the present invention.

[0080] Description of the accompanying drawings:

[0081] 1. Main body; 2. Mobile module. [Specific implementation method]

[0082] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and implementation examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0083] See also Figure 1 A first embodiment of the present invention provides a method for controlling a mobile robot. The mobile robot includes a main body and at least one mobile module, and further includes a main control module for controlling the main body and the mobile module. The mobile module is movably connected to the main body and drives the mobile robot to move. The method for controlling the mobile robot includes at least the following steps:

[0084] Step S1: Detecting the relative position relationship between the main body and the mobile module of the mobile robot to obtain the current posture information of the mobile robot;

[0085] Step S2: detecting the positional relationship of the main body and / or at least one mobile module of the mobile robot relative to the movable plane on which it is located to obtain current position state information of the mobile robot;

[0086] Step S3: Determine the overall state of the movable robot based on the current posture information and the current position state information; when the overall state is determined to be an abnormal overall state, adjust the relative position relationship between the main body and the mobile module or the movement mode of the mobile module to adjust the movable robot to a preset movement posture that is adapted to the current movable plane or allow the movable robot to escape from the abnormal overall state.

[0087] It can be understood that the control method of the movable robot of the present invention can obtain the current posture information of the movable robot by detecting the relative position relationship between the main body and the mobile module in the movable robot; obtain the current position state information of the movable robot by detecting the position relationship between the main body and / or at least one mobile module in the movable robot relative to the movable plane in which it is located; and judge the overall state of the movable robot based on the current posture information and the current position state information; this design is conducive to assisting in judging whether the movable robot is in an abnormal state, and provides support for subsequent adjustment of the movable robot; in addition, when the overall state is judged to be an abnormal overall state, the relative position relationship between the main body and the mobile module or the movement mode of the mobile module can be adjusted to adjust the movable robot to a preset movement posture adapted to the current movable plane or to allow the movable robot to escape from the abnormal overall state; for example, adjusting the relative position relationship between the main body and the mobile module includes keeping the main body stationary and only lifting the mobile module, or it can be done by By adjusting the main movable module, the movable robot is adjusted from a lying state to a standing state; and the movement mode of the mobile module can be adjusted to adjust the movement mode of a single or multiple mobile modules. For example, when there are two grounded mobile modules, one mobile module can be locked and the other mobile module can be allowed to operate normally to realize the rotation of the movable robot; the speed of different mobile modules can also be adjusted separately; all mobile devices can also be adjusted at the same time; it can be understood that in the present method, there is no unique method to adjust the movable robot and make it out of the abnormal overall state; it can be achieved by adjusting the relative position relationship between the main body and the mobile module, or by adjusting the movement mode of the mobile module, or it can be achieved by using both methods at the same time; therefore, the movement of the movable robot controlled by the present mobile robot control method can be more flexible and changeable, so as to better adapt to the complex environment within the home, and at the same time, it can also enable the movable robot to better interact with the user.

[0088] Furthermore, in this embodiment, the movable robot includes two movable modules, and the two movable modules are respectively rotatably connected to the main body. Specifically, the movable modules include a bracket and front wheels and rear wheels arranged at both ends of the bracket.

[0089] Optionally, the front wheel and / or the rear wheel are drive wheels. Specifically, in this embodiment, one of the wheels is a drive wheel.

[0090] Further, please combine Figure 1 and Figure 2 , step S1 specifically includes the following steps:

[0091] Step S11: detecting the position relationship of the main body of the movable robot relative to the current movable plane to obtain the first posture state information;

[0092] Step S12: Detecting the positional relationship of the mobile module in the mobile robot relative to the current movable plane to obtain second posture state information;

[0093] Step S13: Obtain the current posture information of the mobile robot according to the first posture state information and the second posture state information.

[0094] It can be understood that the main body and mobile module of the movable robot targeted in this method can be relatively movable. Therefore, after obtaining the first posture state information and the second posture state information for the main body and the mobile module respectively and then merging them into the current posture information of the movable robot, the accuracy of the obtained current posture information of the movable robot can be effectively improved to provide support for subsequent actions.

[0095] It should be noted that the movable plane has a different selectable range depending on the different movable modules installed on the movable robot.

[0096] Furthermore, the current posture information of the movable robot includes an angle between the main body and at least one movable module.

[0097] It can be understood that the adjustment method of the movable robot in this method includes adjusting the relative position relationship between the main body and the mobile module. Therefore, by obtaining the angle between the main body and at least one mobile module, it is convenient to achieve precise adjustment of the relative position of the main body and the mobile module, which is beneficial to improving the accuracy and reliability of this movable robot control method.

[0098] Specifically, in this embodiment, the relative positions of the main body and the moving module are adjusted by rotation.

[0099] Further, please combine Figure 1 and Figure 3 , step S2 specifically includes the following steps:

[0100] Step S21: detecting a positional relationship of a main body or at least one mobile module in the mobile robot relative to a current movable plane to obtain first position state information, and acquiring current posture information of the mobile robot;

[0101] It can be understood that the first position state information is obtained in order to serve as a calibration target, and thus can be obtained by detecting any module of the movable robot.

[0102] Step S22: Calculating the second position state information of the main body and / or other mobile modules based on the first position state information and the current posture information of the movable robot;

[0103] It is understandable that the current posture information of the mobile robot can be obtained in real time through sensors provided on the mobile robot; it can also be inferred by combining the initial posture of the mobile robot and the motion records of various parts.

[0104] Step S23: Obtaining the position status information of the movable robot according to the first position status information and the second position status information.

[0105] It can be understood that compared with the existing method of comparing each module of the movable robot with the current movable plane to obtain the position status information of the movable robot, this method first obtains the position relationship between any module and the current movable plane to obtain the first position status information, and then matches the first position status information with the current posture information of the movable robot. It can quickly obtain the relative position information of other modules, which is beneficial to improving the computational efficiency of the mobile robot control method.

[0106] Further, please combine Figure 1 and Figure 4 , before step S22, the following steps are also included:

[0107] Step S22A: Obtaining the size information of the main body and the mobile module of the mobile robot.

[0108] It can be understood that by first obtaining the size information of the main body and the mobile module, it can provide assistance for the subsequent location information obtained by the movable robot.

[0109] Furthermore, when obtaining the second position state information of the main body and / or other mobile modules in step S22, the second position state information of the main body and / or other mobile modules is calculated based on the first position state information and the size information of the main body and the mobile modules.

[0110] It can be understood that calculating the second position state information by combining the size information of the main body and the mobile module is beneficial to improving the accuracy of the position information obtained by the mobile robot.

[0111] Furthermore, the position state information of the movable robot includes the center of mass angle information of the main body and / or other movable modules.

[0112] It can be understood that the method of adjusting the movable robot in this method includes adjusting the center of mass position of the movable robot. Therefore, by obtaining the center of mass angle information of the main body and / or other mobile modules when obtaining the position status information, information support can be provided for adjusting the center of mass position of the movable robot.

[0113] Further, please combine Figure 1 and Figure 5 , step S3 specifically includes the following steps:

[0114] Step S31: determining the overall state of the mobile robot according to the current posture information and the current position state information;

[0115] Step S32: When the overall state is judged to be an abnormal overall state, the movable robot is adjusted to a preset moving posture that adapts to the current movable plane or the movable robot is allowed to escape from the abnormal overall state by adjusting the relative position relationship between the main body and the mobile module or the moving mode of the mobile module.

[0116] Furthermore, the overall state in step S32 is judged to be abnormal, including a tipping or tilting state; that is, when the movable robot is in a tipping or tilting state, the main body and the mobile module of the movable robot can rotate relative to each other to change the center of mass position of the movable robot, and / or, the movable robot moves through at least one mobile module to change the tipping or tilting state of the movable robot.

[0117] It is understandable that when the mobile robot is driving in a house, due to the complexity of the environment, it is inevitable that it will enter a tipping or tilting state; and if the mobile robot is not adjusted at this time to restore it to a normal state, the mobile module of the mobile robot will continue to idle, resulting in energy waste; moreover, when the mobile robot enters a tipping or tilting state, it means that the center of mass position of the mobile robot has shifted, which is different from the center of mass position under normal operating conditions; therefore, in this solution, the main body and the mobile module can rotate relative to each other to change the center of mass position of the mobile robot, that is, the mobile robot can be quickly restored to a supporting driving state by changing the center of mass position of the mobile robot; in addition, if the robot has only entered a simple tilting state, for example, due to the uneven ground, causing the mobile module on one side to be lifted, the mobile robot can be restored to a normal state by further changing the moving mode of the mobile module.

[0118] Furthermore, changing the movement mode of the mobile module includes increasing or decreasing the speed of all mobile modules at the same time, increasing or decreasing the speed of only some mobile modules, or making different movement mode adjustments for different mobile modules, such as locking a certain mobile module and increasing the movement speed of another mobile module, so that the robot can rotate around the locked mobile module.

[0119] Furthermore, changing the movement mode of the mobile module also includes changing the forward direction of the mobile module, for example, changing the moving direction of all mobile modules to the opposite direction to achieve regret; for example, when the robot has two opposite mobile modules, while moving forward, the moving direction of one mobile module is changed to the opposite direction to achieve the robot's rotation in place.

[0120] Furthermore, step S31 specifically includes the following steps:

[0121] Step S311: Compare the acquired current posture information and current position state information with the preset abnormal overall state;

[0122] Step S312: When the matching degree is greater than a preset value, it is determined that the overall state of the movable robot is abnormal.

[0123] Specifically, in this embodiment, the preset value is 60%. It should be noted that the preset value can be set or trained as needed and is not limited here.

[0124] Furthermore, the overall state in step S32 is judged to be abnormal and also includes a state in which the movable robot is in a current posture that is incompatible with the driving path; when the movable robot is in this state, the movable robot can be deformed from the current posture to a posture that matches the current driving path by combining the relative rotation of the main body and the mobile module and the mobility of the mobile module to match the current driving path.

[0125] Understandably, the environment inside a home is highly complex, and a mobile robot may encounter a situation where its current posture cannot cross the area ahead during driving. For example, there is a step ahead. At this time, the mobile robot can transform from its current posture to a posture that matches the current driving path by combining the relative rotation of the main body and the mobile module and the mobility of the mobile module to match the current driving path. This design can further improve the mobile robot's ability to adapt to complex environments, greatly improve the flexibility, adaptability and reliability of the robot's movements, and further enhance the robot's expressiveness.

[0126] Specifically, in this embodiment, the first preset posture refers to the movable robot having four wheels on the ground, and the second preset posture refers to the movable mobile module being flipped and upright, with the front wheels landing on the ground.

[0127] Furthermore, the types of the dumping state include at least two types. When the overall state is the dumping state, the following steps are further included before changing the overall state of the movable robot:

[0128] Step S320: Determine the type of the dumping state.

[0129] It is understandable that by determining the type of the dumping state in advance, targeted adjustment strategies can be adopted for different dumping states, thereby improving the efficiency and success rate of the mobile robot escaping from the abnormal state.

[0130] Furthermore, even in the same tilted state, the adjustment strategies that the mobile robot needs to adopt are different when facing different tilt angles and external environments. Therefore, even in the same type of tilting state, different types can be distinguished.

[0131] Further, the type of the tipping state includes that the mobile robot tips over to the side and that the mobile robot turns upside down. As can be understood, tipping over to the side or turning upside down are two common tipping states of the mobile robot when running.

[0132] Furthermore, the tilted state refers to a situation where the grip of at least one mobile module of the movable robot is reduced due to tilting. When the overall state is a tilted state, the movement mode of the mobile module is adjusted to change the tilted state of the movable robot; or, the center of mass position of the movable robot is changed by adjusting the relative position of the main body and the mobile module, so as to allow the movable robot to escape from the tilted state. It is understandable that when the movable robot is in a tilted state, there is no need to adopt overly complicated operations. You can first try to correct the tilted state by adjusting the movement mode of the mobile module alone; you can also allow the movable robot to escape from the tilted state by changing the center of mass position of the movable robot, which is conducive to further improving the flexibility of the robot.

[0133] It should be noted that when the degree of tilt is too large or the external environment is too complex, and the tilt state of the movable robot cannot be corrected by simply adjusting the movement mode of the mobile module, the tilt state of the movable robot can also be corrected by directly adjusting the main body and the mobile module.

[0134] For further information, see Figure 8 In the figure, A represents the normal driving state of the robot, and in the figure, B represents that when the robot is driving uphill, the relative positions of the main body 1 and the mobile module 2 can be adjusted to make the robot lean forward as a whole, so that the center of mass of the robot is moved forward, thereby increasing the grip of the robot's front wheels and avoiding or eliminating the robot's tilting state caused by the front wheels leaving the ground.

[0135] For further information, see Figure 9 The robot can also lift the mobile module 2 by adjusting the relative positions of the main body 1 and the mobile module 2; when the mobile module falls into a recessed area, the robot can escape from the abnormal situation in this way.

[0136] Further, please combine Figure 1 and Figure 6 Taking a mobile robot as an example for step S32, the robot includes two parallel mobile modules, each of which includes front wheels and rear wheels, one of which is a drive wheel. The robot's driving postures include four-wheel driving and two-wheel driving. When the robot is in four-wheel driving, it moves via the front wheels or rear wheels of the two mobile modules. One implementation of step S32 specifically includes the following steps:

[0137] Step S32A1: Calculate the center of mass curve of the main body based on the actual mass distribution of the mobile robot, and rotate the main body and the mobile module relative to each other to position the main body at an angle where the angle between the center of mass of the main body, the rear wheel axis of the mobile module, and the normal of the mobile robot's movable plane is minimized;

[0138] Step S32A2: directly drive the driving wheels with full torque to accelerate toward the side where the center of mass is located, thereby realizing the posture transformation of the movable robot; or, first drive the driving wheels with full torque in the opposite direction to the center of mass for a preset time, and then accelerate toward the center of mass with full torque, and use the law of conservation of angular momentum to realize the movement of the center of mass around the wheel axis in the opposite direction of gravity, thereby realizing the posture transformation of the movable robot and transforming the robot's driving posture from four-wheel driving to two-wheel driving.

[0139] Please combine Figure 1 、 Figure 6 and Figure 9 , where A represents the robot in a tilted position, and Figure B shows the robot accelerating toward its center of mass by rotating its front wheels with full torque, achieving a positional change. Figure C shows the robot successfully transitioning from four-wheel travel to two-wheel travel. It will be appreciated that while the example in the figure shows two front wheels, in other embodiments, two rear wheels could also be used.

[0140] Further, please combine Figure 1 and Figure 7 Taking a mobile robot as an example for step S32, the robot includes two parallel mobile modules, each of which includes front wheels and rear wheels, one of which is a drive wheel; the robot's driving postures include four-wheel driving and two-wheel driving. When the robot is in four-wheel driving, it moves via the front wheels or rear wheels of the two mobile modules; another embodiment of step S32 specifically includes the following steps:

[0141] Step S32B1: Calculate the center of mass curve of the main body based on the actual mass distribution of the mobile robot, and rotate the main body and the mobile module relative to each other to position the main body in a posture where it tilts downward through the wheel axis and the angle between the main body and the ground normal is the largest;

[0142] Step S32B2: Control the main body to accelerate and lift up, and when the angle between the line connecting the center of mass of the main body and the axis of the rear wheel of the mobile module and the normal of the movable plane where the movable robot is located is the smallest, lock the relative posture of the main body and the mobile module, and rely on the conservation of angular momentum and momentum conservation to realize the movement of the center of mass around the axis of the wheel against the direction of gravity, thereby realizing the posture transformation of the movable robot.

[0143] It is understandable that there is no single way for the mobile robot to change its posture. A corresponding method can be adopted according to actual conditions, which is highly flexible. Moreover, the above two posture change methods can also be combined and used simultaneously.

[0144] For further information, please combine Figure 1 、 Figure 7 and Figure 10 , where A indicates that the robot is in a tilted state, Figure B indicates that the robot's main body 1 is rotating relative to the mobile module 2, and Figure C indicates that the robot successfully locks the relative posture of the main body 1 and the mobile module 2. Relying on the conservation of angular momentum and momentum conservation, the center of mass moves around the wheel axis against the direction of gravity, realizing the posture transformation of the movable robot, and transforming from four-wheel driving to two-wheel driving.

[0145] Furthermore, if a robot consists of only two mobile modules, each consisting of a single wheel, and maintains self-balancing motion solely on its two wheels, if it experiences a tipping situation, the robot can adjust its center of mass to reduce the difficulty of correcting its posture. For example, this can be achieved by shortening the distance between the robot's head and the wheel axis, and then restoring the robot to a two-wheel self-balancing mode by rotating the wheel.

[0146] Furthermore, in addition to being in an abnormal overall state, the robot can also adjust the relative position between the main body and the mobile module, or the movement mode of the mobile module, upon receiving preset commands. These preset commands can come from an external control device, a voice command, or a command issued by the robot's main control module for other functional needs. For example, the main control module can control the robot to switch from a four-wheel driving state to a two-wheel driving state, or vice versa, to express a specific personality of the robot.

[0147] Furthermore, in addition to changing from a four-wheel driving state to a two-wheel driving state, adjusting the relative position relationship between the main body and the mobile module can also achieve the lifting of a single mobile module, the forward or backward tilting of the main body, and the adjustment of the distance from the main body to the quasi-axle center of the wheel of the mobile module.

[0148] Furthermore, a third embodiment of the present invention provides a method for adjusting the posture of a mobile robot. The mobile robot includes a main body and at least one mobile module, and further includes a main control module for controlling the main body and the mobile module. The mobile module is movably connected to the main body and drives the mobile robot to move. The robot can be controlled by the main control module to lift at least a portion of the mobile module off the ground. It will be understood that the mobile robot control method of the present invention is not only used to escape from an abnormal state, but can also be used to adjust the posture of the robot in a normal state.

[0149] Furthermore, in this embodiment, the movable robot includes two movable modules, which are respectively rotatably connected to the main body. Front wheels and rear wheels are respectively arranged at intervals on each movable module, and the front wheels and / or rear wheels are driving wheels.

[0150] For example, the mobile robot can control the mobile module 2 to rotate relative to the main body 1 through the main control module to achieve single wheel lifting and three wheels touching the ground (see Figure 11 ); at the same time, when the three wheels touch the bottom, the mobile robot can also control the lifted mobile module to rotate relative to the main body to achieve the shaking of the lifted single wheel.

[0151] Exemplarily, the movable robot can also control the main body and the movable module to rotate relative to each other through the main control module, thereby changing the center of mass position of the movable robot.

[0152] Exemplarily, the movable robot can also control the relative rotation of the main body and the movable module through the main control module, thereby changing the movable robot from a four-wheel driving state to a two-wheel driving state; or, from a two-wheel driving state to a four-wheel driving state.

[0153] It should be noted that, while performing the above-mentioned posture changes, the movable machine can also move forward, backward, turn, etc.

[0154] Furthermore, the third embodiment of the present invention also provides a method for controlling a movable robot, wherein the movable robot includes two movably connected modules and at least one of the modules is movable and drives the movable robot to move, and the movable robot control system includes a main control module; the main control module obtains component posture information by detecting the relative position relationship of the two modules, and the main control module obtains position status information by detecting the position relationship of at least one module in the movable robot relative to the ground; the overall state of the movable robot is judged according to the component posture information and the position status information, and when the overall state is judged to be an abnormal overall state, the relative position relationship of the two modules or the movement mode of the mobile module is adjusted to adjust the movable robot to a preset movement posture adapted to the current movable plane or to allow the movable robot to escape from the abnormal overall state.

[0155] It can be understood that the mobile robot control system has the same beneficial effects as the above-mentioned mobile robot control method, which will not be described in detail here.

[0156] Furthermore, the movable robot control system further includes a power component, and the main control module adjusts the relative position relationship between the two modules or the movement mode of the movable module by controlling the power component.

[0157] Furthermore, the mobile robot control system further includes a detection component electrically connected to the main control module. The detection component includes multiple monitoring elements, each of which is provided on the modules. As will be appreciated, by providing a detection element on each module, the operating status of each module can be obtained in real time, effectively improving the accuracy of the mobile robot's control.

[0158] Furthermore, a fourth embodiment of the present invention provides a robot comprising a trunk module and leg modules that are movably connected, and a control module for controlling the trunk module and the leg modules, wherein the leg module can drive the trunk module to move. The robot is controlled by the aforementioned method for controlling a movable robot. It is understood that the robot has the same beneficial effects as the aforementioned method for controlling a movable robot, and further description thereof is omitted here.

[0159] Furthermore, the leg module includes at least one leg assembly, which further includes a plurality of connected moving elements. The robot is also provided with a control system, which can control at least one moving element to switch between a state of being lifted off the ground and in contact with the ground to change the overall state of the robot.

[0160] It is understood that the robot provided by the embodiments of the present invention includes a control system, a trunk module, and a leg module connected to the trunk module. The control system can control at least one moving element to switch between a state of being lifted off the ground and a state of being in contact with the ground, thereby changing the robot's overall state and making the robot's movements more flexible and varied. For example, when all moving elements are in contact with the ground, the robot is in a prone position, resembling a cute bionic pet with all its feet on the ground. When some moving elements are lifted off the ground, the robot is in a standing position, resembling a cute bionic pet with some feet standing and some feet raised. The robot's movements are more flexible and diverse, providing a foundation for further advancements in human-machine interaction. In addition, the control system can control at least one moving element to switch between a state of being lifted off the ground and a state of being in contact with the ground, allowing the robot to adapt to more complex environments. For example, the robot can control some moving elements to lift off the ground to circumvent obstacles, or switch a lifted moving element to a state of being in contact with the ground when the robot is about to tilt. As can be seen, the control system can control at least one moving element to switch between a state of being lifted off the ground and a state of being in contact with the ground, greatly improving the flexibility, adaptability, and reliability of the robot's movements.

[0161] Furthermore, the trunk module includes a first motion component, the output end of which is in transmission connection with the leg module. It is understood that by providing the first motion component with an output end in transmission connection with the leg module, the leg module can move relative to the trunk module, thereby enabling the robot to realize the function of independently moving the trunk module and the leg module, or realizing the function of only one of the two modules moving as needed, thereby further effectively improving the robot's movement and action flexibility and adaptability to the environment, further enhancing the robot's expressiveness, and making the robot more in line with the requirements of bionics.

[0162] Furthermore, the trunk module and the leg module are rotatably connected via a first motion component. Specifically, in this embodiment, the first motion component includes a waist motor.

[0163] Furthermore, the moving element comprises at least a front wheel and a rear wheel spaced apart, and a driving member is provided corresponding to the front wheel and / or the rear wheel. Specifically, in this embodiment, a driving member is provided only corresponding to the front wheel, that is, one of the wheels is a driving wheel and the rear wheel is a driven wheel.

[0164] It should be noted that the realization of the posture transformation of the mobile robot mentioned in step S32 in the mobile robot method depends on the first action component, the front wheel and its driving member.

[0165] Furthermore, the fifth embodiment of the present invention also provides a computer medium, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the above-mentioned mobile robot control method is implemented.

[0166] Compared with the prior art, the mobile robot control method, posture adjustment method, system, robot and computer storage medium provided by the present invention have the following advantages:

[0167] 1. The control method of the movable robot of the present invention can obtain the current posture information of the movable robot by detecting the relative position relationship between the main body and the mobile module in the movable robot; obtain the current position state information of the movable robot by detecting the position relationship between the main body and / or at least one mobile module in the movable robot relative to the movable plane in which it is located; and judge the overall state of the movable robot according to the current posture information and the current position state information; it can be understood that this design is helpful in assisting in judging whether the movable robot is in an abnormal state, and provides support for subsequent adjustment of the movable robot; in addition, when the overall state is judged to be an abnormal overall state, the relative position relationship between the main body and the mobile module or the movement mode of the mobile module can be adjusted to adjust the movable robot to a preset movement posture adapted to the current movable plane or to make the movable robot out of the abnormal overall state; for example, adjusting the relative position relationship between the main body and the mobile module includes keeping the main body still and only lifting the mobile module, or it can be By adjusting the main movable module, the movable robot is adjusted from a lying state to a standing state; and the movement mode of the mobile module can be adjusted to adjust the movement mode of a single or multiple mobile modules. For example, when there are two grounded mobile modules, one mobile module can be locked and the other mobile module can be allowed to operate normally to realize the rotation of the movable robot; the speed of different mobile modules can also be adjusted separately; all mobile devices can also be adjusted at the same time; it can be understood that in the present method, there is not a single method to adjust the movable robot and make it out of the abnormal overall state; it can be achieved by adjusting the relative position relationship between the main body and the mobile module, or by adjusting the movement mode of the mobile module, or it can be achieved by using both methods at the same time; therefore, the movements of the movable robot controlled by the present mobile robot control method can be more flexible and changeable, so as to better adapt to the complex environment within the home, and at the same time, the movable robot can also better interact with the user.

[0168] 2. In the movable robot control method of the present invention: the abnormal overall state includes a tipping or tilting state; when the movable robot is in a tipping or tilting state, the main body and the mobile module of the movable robot can rotate relative to each other to change the center of mass position of the robot, and / or, the movable robot moves through at least one mobile module to change the tipping or tilting state of the movable robot. It is understandable that when the mobile robot is driving in a house, due to the complexity of the environment, it is inevitable that it will enter a tipping or tilting state; and if the mobile robot is not adjusted at this time to restore it to a normal state, the mobile module of the mobile robot will continue to idle, resulting in energy waste; it is understandable that when the mobile robot enters a tipping or tilting state, it means that the center of mass position of the mobile robot has shifted, which is different from the center of mass position under normal operating conditions; therefore, in this solution, the main body and the mobile module can rotate relative to each other to change the center of mass position of the mobile robot, and the mobile robot can be quickly restored to a supporting driving state by changing the center of mass position of the mobile robot; in addition, if the robot has only entered a simple tilting state, for example, due to the uneven ground, causing the mobile module on one side to be lifted, the mobile robot can be restored to a normal state by further changing the moving mode of the mobile module.

[0169] 3. The abnormal overall state described in the mobile robot control method of the present invention also includes a state in which the mobile robot is in a state where its current posture is incompatible with its travel path. When the mobile robot is in this state, the relative rotation of the main body and the mobile module, as well as the mobility of the mobile module, can be combined to allow the mobile robot to transform from its current posture to a posture that matches the current travel path, thereby matching the current travel path. It is understandable that the environment within a home is highly complex, and the mobile robot may encounter a situation in which its current posture cannot cross the area ahead during travel. For example, there is a step ahead. In this case, the mobile robot can transform from its current posture to a posture that matches the current travel path, thereby matching the current travel path, by combining the relative rotation of the main body and the mobile module, as well as the mobility of the mobile module. This design can further improve the mobile robot's ability to adapt to complex environments, greatly enhancing the flexibility, adaptability, and reliability of the robot's movements, and further enhancing the robot's expressiveness.

[0170] 4. In the movable robot control method of the present invention, the current posture information of the movable robot includes the angle between the main body and at least one mobile module; it can be understood that the adjustment method of the movable robot in this method includes adjusting the relative position relationship between the main body and the mobile module. Therefore, by obtaining the angle between the main body and at least one mobile module, it is convenient to achieve precise adjustment of the relative position of the main body and the mobile module, which is beneficial to improving the accuracy and reliability of the movable robot control method.

[0171] 5. In the mobile robot control method of the present invention, obtaining the current position state information of the mobile robot includes the following steps: detecting the positional relationship of the main body or at least one mobile module of the mobile robot relative to the current movable plane to obtain first position state information, and obtaining the current posture information of the mobile robot; calculating the second position state information of the main body and / or other mobile modules based on the first position state information and the current posture information of the mobile robot; and obtaining the position state information of the mobile robot based on the first position state information and the second position state information. It can be understood that compared with the existing method of comparing each module of the mobile robot with the current movable plane to obtain the position state information of the mobile robot, the present method first obtains the positional relationship between any module and the current movable plane to obtain the first position state information, and then matches the first position state information with the current posture information of the mobile robot. This method can quickly obtain the relative position information of other modules, which is conducive to improving the computational efficiency of the present mobile robot control method.

[0172] 6. The mobile robot control method of the present invention further includes the following steps, before calculating the second position state information of the main body and / or other mobile modules: obtaining dimensional information of the main body and mobile modules of the mobile robot. It is understood that first obtaining the dimensional information of the main body and mobile modules can help the mobile robot subsequently obtain position information. Furthermore, the second position state information of the main body and / or other mobile modules is calculated based on the first position state information and the dimensional information of the main body and mobile modules. It is understood that this design helps improve the accuracy of the position information obtained by the mobile robot.

[0173] 7. In the mobile robot control method of the present invention, the position state information includes information about the center of mass angle of the main body and / or other mobile modules. It will be appreciated that adjusting the mobile robot in this method includes adjusting the center of mass position of the mobile robot. Therefore, by obtaining information about the center of mass angle of the main body and / or other mobile modules when obtaining the position state information, information support can be provided for adjusting the center of mass position of the mobile robot.

[0174] 8. In the mobile robot control method of the present invention, the specific steps for obtaining the current posture information of the mobile robot are as follows: detecting the positional relationship of the main body of the mobile robot relative to the current movable plane to obtain the first posture state information; detecting the positional relationship of the mobile module of the mobile robot relative to the current movable plane to obtain the second posture state information; and obtaining the current posture information of the mobile robot based on the first posture state information and the second posture state information. It is understandable that the main body and the mobile module of the mobile robot targeted in this method can be relatively movable. Therefore, obtaining the first posture state information and the second posture state information for the main body and the mobile module respectively and then merging them into the current posture information of the mobile robot can effectively improve the accuracy of the obtained current posture information of the mobile robot and provide support for subsequent actions.

[0175] 9. In the mobile robot control method of the present invention, there are at least two types of tipping states. When the overall state is a tipping state, the following step is further included before changing the overall state of the mobile robot: determining the type of tipping state. It is understood that by determining the type of tipping state in advance, targeted adjustment strategies can be adopted for different tipping states, thereby improving the efficiency and success rate of the mobile robot's escape from abnormal states. The types of tipping states include the mobile robot tipping sideways and the mobile robot flipping upside down. It is understood that tipping sideways or flipping upside down are two common tipping states that a mobile robot may experience during operation.

[0176] 10. In the mobile robot control method of the present invention, a tilted state refers to a state in which the grip of at least one mobile module of the mobile robot is reduced due to tilt. When the overall state is tilted, the mobile module's movement mode is adjusted to change the tilted state of the mobile robot; or, the center of mass of the mobile robot is changed by adjusting the relative position of the main body and the mobile module, thereby allowing the mobile robot to escape the tilted state. It is understandable that when the mobile robot is in a tilted state, it is not necessary to adopt overly complex operations. One can first try to correct the tilted state by simply adjusting the movement mode of the mobile module. Alternatively, the mobile robot can be freed from the tilted state by changing the center of mass of the mobile robot, which will further improve the robot's flexibility.

[0177] 11. In the control method of a mobile robot of the present invention, adjusting the relative position relationship between the main body and the mobile module includes the following steps: the robot includes two parallel mobile modules, the mobile modules include front wheels and rear wheels, one of which is a drive wheel; the robot's driving posture includes four-wheel driving and two-wheel driving, and when the robot is in four-wheel driving, it moves through the front wheels or rear wheels of the two mobile modules; according to the actual mass distribution of the mobile robot, the center of mass curve of the main body is calculated, and the main body and the mobile module are rotated relative to each other, and the main body is positioned at an angle where the angle between the center of mass of the main body and the axis of the rear wheel of the mobile module and the normal of the movable plane of the mobile robot is the smallest; directly driving the drive wheel to accelerate toward the side where the center of mass is located with full torque to achieve the posture change of the mobile robot; or, first driving the drive wheel with full torque in the opposite direction to the center of mass for a preset time, and then accelerating it with full torque toward the center of mass, using the conservation of angular momentum to achieve the center of mass moving around the wheel axis in the opposite direction of gravity to achieve the posture change of the mobile robot, and change the driving posture of the robot from four-wheel driving to two-wheel driving. It is understandable that there is no single way for the mobile robot to change its posture. A corresponding way can be adopted according to the actual situation, which is highly flexible.

[0178] 12. In the control method of a mobile robot of the present invention, adjusting the relative position relationship between the main body and the mobile module includes the following steps: the robot includes two parallel mobile modules, the mobile modules including front wheels and rear wheels, one of which is a drive wheel; the robot's driving posture includes four-wheel driving and two-wheel driving, and when the robot is in four-wheel driving, it moves via the front wheels or rear wheels of the two mobile modules; calculating the center of mass curve of the main body according to the actual mass distribution of the mobile robot, and causing the main body and the mobile module to rotate relative to each other, positioning the main body in a posture in which it tilts downward through the wheel axis and the angle between the main body and the ground normal is the largest; controlling the main body to accelerate and lift the movement, and locking the relative posture of the main body and the mobile module when the angle between the line passing through the center of mass of the main body and the axis of the front or rear wheel of the mobile module and the normal of the movable plane of the mobile robot is the smallest, relying on the conservation of angular momentum and the conservation of momentum to achieve the center of mass movement around the axis of the front or rear wheel against the direction of gravity, thereby realizing the posture transformation of the mobile robot, and transforming the driving posture of the robot from four-wheel driving to two-wheel driving. It is understandable that there is no single way for the mobile robot to change its posture. A corresponding way can be adopted according to the actual situation, which is highly flexible.

[0179] 13. The present invention also provides a method for adjusting the posture of a mobile robot. The mobile robot comprises a main body and at least one mobile module, and further comprises a main control module for controlling the main body and the mobile module. The mobile module is movably connected to the main body and drives the mobile robot to move. The main control module can control at least a portion of the mobile module to lift the robot off the ground. It will be appreciated that the mobile robot control method of the present invention is not limited to escaping abnormal conditions but can also be used to adjust the robot's posture in normal conditions.

[0180] 14. The present invention also provides a mobile robot control system for controlling a mobile robot, wherein the mobile robot includes two movably connected modules, at least one of which is movable and drives the mobile robot to move, and the mobile robot control system includes a main control module; the main control module obtains component posture information by detecting the relative position relationship of the two modules, and the main control module obtains position status information by detecting the position relationship of at least one module in the mobile robot relative to the ground; the overall state of the mobile robot is determined based on the component posture information and the position status information, and when the overall state is determined to be an abnormal overall state, the relative position relationship of the two modules or the movement mode of the mobile module is adjusted to adjust the mobile robot to a preset movement posture that adapts to the current movable plane or to allow the mobile robot to escape from the abnormal overall state. It can be understood that this mobile robot control system has the same beneficial effects as the above-mentioned mobile robot control method, which will not be described in detail here.

[0181] 15. The mobile robot control system of the present invention further comprises a power assembly, and the main control module adjusts the relative position relationship between the two modules or the movement mode of the mobile module by controlling the power assembly.

[0182] 16. The mobile robot control system of the present invention further includes a detection assembly electrically connected to the main control module. The detection assembly includes multiple monitoring elements, each of which is provided on the modules. As will be appreciated, by providing a detection element on each module, the operating status of each module can be obtained in real time, effectively improving the accuracy of control over the mobile robot.

[0183] 17. The present invention further provides a robot comprising a trunk module and leg modules that are movably connected, and a control module for controlling the trunk module and leg modules, wherein the leg module is capable of driving the trunk module to move. The robot is controlled by the aforementioned method for controlling a movable robot. It is understood that the robot has the same beneficial effects as the aforementioned method for controlling a movable robot, and further description thereof is omitted here.

[0184] 18. A robot provided by an embodiment of the present invention includes a control system, a trunk module, and leg modules connected to the trunk module. The control system can control at least one moving element to switch between a state of being lifted off the ground and a state of being in contact with the ground, thereby changing the robot's overall state and making the robot's movements more flexible and varied. For example, when all moving elements are in contact with the ground, the robot is in a prone position, resembling a cute bionic pet with all its feet on the ground. When some moving elements are lifted off the ground, the robot is in a standing position, resembling a cute bionic pet with some feet standing and some feet raised. This makes the robot's movements more flexible and diverse, providing a foundation for further advancements in human-machine interaction. In addition, the control system can control at least one moving element to switch between a state of being lifted off the ground and a state of being in contact with the ground, allowing the robot to adapt to more complex environments. For example, the robot can control some moving elements to lift off the ground to circumvent obstacles, or switch a lifted moving element to a state of being in contact with the ground when the robot is about to tilt. Thus, the control system can control at least one moving element to switch between a state of being lifted off the ground and a state of being in contact with the ground to prevent the robot from tipping over.

[0185] 19. The robot provided by the embodiment of the present invention, by setting a first motion component with an output end transmission-connected to the leg module, enables the leg module to move relative to the torso module, so that the robot can realize the function of the torso module and the leg module to move separately or realize the movement of only one of the two modules as needed, thereby further effectively improving the robot's movement, flexibility of action and adaptability to the environment, and further enhancing the robot's expressiveness, making the robot more in line with the requirements of bionics.

[0186] 20. The present invention also provides a computer medium having the same beneficial effects as the above-mentioned movable robot control method, which will not be described in detail here.

[0187] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for controlling a mobile robot, wherein the mobile robot comprises a main body and at least one mobile module, wherein the mobile module is movably connected to the main body and drives the mobile robot to move, wherein: The mobile robot control method comprises at least the following steps: Detecting the relative position relationship between the main body and the mobile module in the mobile robot to obtain the current posture information of the mobile robot; Detecting a positional relationship of a main body and / or at least one mobile module in the mobile robot relative to a movable plane on which the main body and / or at least one mobile module are located to obtain current position state information of the mobile robot; Determining the overall state of the mobile robot according to the current posture information and the current position state information; When the overall state is determined to be an abnormal overall state, the movable robot is adjusted to a preset movement posture adapted to the current movable plane or the movable robot is allowed to escape from the abnormal overall state by adjusting the relative position relationship between the main body and the movable module or the movement mode of the movable module; Wherein, adjusting the relative position relationship between the main body and the mobile module comprises the following steps: The robot comprises two parallel mobile modules, each of which comprises a front wheel and a rear wheel, one of which is a driving wheel; the robot's driving postures include four-wheel driving and two-wheel driving. When the robot is in four-wheel driving, it moves via the front wheels or rear wheels of the two mobile modules; According to the actual mass distribution of the mobile robot, the center of mass curve of the main body is calculated, and the main body and the mobile module are rotated relative to each other, and the main body is positioned at an angle where the angle between the center of mass of the main body and the axis of the rear wheel of the mobile module and the normal of the movable plane of the mobile robot is the smallest; the driving wheels are directly driven with full torque to accelerate toward the side where the center of mass is located, so as to realize the posture transformation of the mobile robot; or, the driving wheels are first driven with full torque in the opposite direction to the center of mass for a preset time, and then accelerated with full torque toward the center of mass, and the conservation of angular momentum is used to realize the movement of the center of mass around the axis of the wheel in the opposite direction of gravity, so as to realize the posture transformation of the mobile robot and transform the driving posture of the robot from four-wheel driving to two-wheel driving; or According to the actual mass distribution of the mobile robot, the center of mass curve of the main body is calculated, and the main body and the mobile module are rotated relative to each other, and the main body is positioned in a posture where it tilts down through the wheel axis and the angle between the main body and the ground normal is the largest; the main body is controlled to accelerate and lift up, and when the angle between the line passing through the center of mass of the main body and the front or rear wheel axis of the mobile module and the normal of the movable plane of the mobile robot is the smallest, the relative posture of the main body and the mobile module is locked, and relying on the conservation of angular momentum and momentum conservation, the center of mass moves around the front or rear wheel axis against the direction of gravity, realizing the posture transformation of the mobile robot, and transforming the robot's driving posture from four-wheel driving to two-wheel driving.

2. The mobile robot control method according to claim 1, wherein: The abnormal overall state includes a tipping or tilting state; when the movable robot is in a tipping or tilting state, the main body and the mobile module of the movable robot can rotate relative to each other to change the center of mass position of the movable robot, and / or, the movable robot moves through at least one mobile module to change the tipping or tilting state of the movable robot.

3. The mobile robot control method according to claim 1, wherein: The abnormal overall state also includes a state in which the mobile robot is in a state where the current posture is incompatible with the driving path; when the mobile robot is in this state, the mobile robot can be deformed from the current posture to a posture that matches the current driving path by combining the relative rotation of the main body and the mobile module and the mobility of the mobile module to match the current driving path.

4. The mobile robot control method according to claim 1, wherein: The current posture information of the movable robot includes an angle between a main body and at least one movable module.

5. The mobile robot control method according to claim 1, wherein: Obtaining the current position state information of the mobile robot includes the following steps: Detecting a positional relationship of a main body or at least one of the mobile modules in the mobile robot relative to a current movable plane to obtain first position state information, and acquiring current posture information of the mobile robot; Calculate the second position state information of the main body and / or other mobile modules according to the first position state information and the current posture information of the movable robot; The position state information of the movable robot is obtained according to the first position state information and the second position state information.

6. The mobile robot control method according to claim 5, wherein: Before calculating and obtaining the second position state information of the main body and / or other mobile modules, the method further includes the following steps: Obtaining size information of a main body and a mobile module of the mobile robot; The second position state information of the main body and / or other mobile modules is calculated based on the first position state information and the size information of the main body and the mobile module.

7. The mobile robot control method according to claim 1, wherein: The position status information includes centroid angle information of the main body and / or other mobile modules.

8. The mobile robot control method according to claim 1, wherein: The specific steps to obtain the current posture information of the mobile robot are as follows: Detecting the position relationship of the main body of the movable robot relative to the current movable plane to obtain the first posture state information; Detecting a positional relationship of a mobile module in the mobile robot relative to a current movable plane to obtain second posture state information; The current posture information of the mobile robot is obtained according to the first posture state information and the second posture state information.

9. The mobile robot control method according to claim 2, wherein: The dumping state includes at least two types. When the overall state is the dumping state, the method further includes the following steps before changing the overall state of the movable robot: determining the type of the dumping state; The types of the tipping state include the movable robot tipping sideways and the movable robot turning upside down.

10. The mobile robot control method according to claim 2, wherein: The tilted state refers to the reduction of the grip of at least one mobile module of the movable robot due to the tilt. When the overall state is the tilted state, the movement mode of the mobile module is adjusted to change the tilted state of the movable robot; or, by adjusting the relative position of the main body and the mobile module to change the center of mass position of the movable robot, the movable robot can be allowed to escape from the tilted state.

11. A robot, characterized in that: The robot includes a trunk module and a leg module that are movably connected, and also includes a control module for controlling the trunk module and the leg module. The leg module can drive the trunk module to move. The control method of the robot is the movable robot control method described in any one of claims 1-10.

12. The robot according to claim 11, wherein: The leg module includes at least one leg assembly, which further includes a plurality of connected moving elements. The control module can control at least one moving element to switch between a state of being lifted off the ground and a state of being in contact with the ground to change the overall state of the robot.

13. The robot according to claim 11, wherein: The torso module includes a first motion component, which is electrically connected to the control system, and an output end of the first motion component is transmission-connected to the leg module.

14. The robot according to claim 13, wherein: The moving element at least includes a front wheel and a rear wheel spaced apart from each other, and a driving member is provided corresponding to the front wheel and / or the rear wheel to drive the front wheel and / or the rear wheel to rotate.

15. A computer medium, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method for controlling a mobile robot according to any one of claims 1 to 10 is implemented.

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