Multi-modal mobile robot control method, system, robot, and medium

Abstract

The application discloses a multi-modal mobile robot control method, system, robot and medium, which can be applied to scenes such as artificial intelligence, robot technology and mechatronics. The method is applied to a multi-modal mobile robot including a driving wheel module, a straight leg module, a passive wheel module, an ankle joint module and a main body, and comprises the following steps: acquiring current modal information of the robot; when it is detected that the robot enters a new environment, acquiring environment information corresponding to the surrounding environment of the robot; determining a modal switching instruction according to the current modal information and the environment information and a preset corresponding relationship between environment information and the modal of the robot; controlling the main body to move along the axis direction of the straight leg module and / or controlling the straight leg module to flip over according to the modal switching instruction, so as to complete the modal switching of the robot and make the robot run in the new environment based on the switched modal, so that the robot can realize rapid modal switching in different environments, the moving efficiency of the robot is improved, and the energy consumption is reduced.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a multimodal mobile robot control method, system, robot, and medium. Background Art

[0002] Currently, bipedal mobile robots can adapt to various complex terrains, but their low speed and poor stability limit their application in real human environments. Therefore, the development of multimodal mobile robots has become one of the most pressing issues to be addressed.

[0003] Current research on multimodal mobile robots focuses on combining two modes, including two-wheeled and legged mobile robots. However, these robots inevitably suffer from complex structures and poor load capacity. At the same time, multimodal robots often involve the design of control methods for the modal switching process. Current modal switching methods cannot enable robots to switch quickly, resulting in low robot mobility efficiency. Summary of the Invention

[0004] The embodiments of the present application provide a multimodal mobile robot control method, system, robot and medium, so that the robot can achieve rapid mode switching in different environments, thereby improving the robot's movement efficiency and reducing the robot's energy consumption.

[0005] In a first aspect, a multimodal mobile robot control method is provided, which is applied to a multimodal mobile robot, wherein the multimodal mobile robot includes a driving wheel module, a linear leg module, a passive wheel module, an ankle joint module and a main body, and the method includes: obtaining current modal information of the multimodal mobile robot; when it is detected that the multimodal mobile robot enters a new environment, obtaining environmental information corresponding to the surrounding environment of the multimodal mobile robot; determining a modal switching instruction based on the current modal information and the environmental information, as well as a correspondence between preset environmental information and the robot modality; according to the modal switching instruction, controlling the main body to move along the axial direction of the linear leg module, and / or controlling the linear leg module to flip, so as to complete the switching of the robot modality, and controlling the multimodal mobile robot to operate in the new environment based on the switched robot modality.

[0006] In a second aspect, a multimodal mobile robot control system is provided, which is applied to a multimodal mobile robot, wherein the multimodal mobile robot includes a driving wheel module, a linear leg module, a passive wheel module, an ankle joint module and a main body, and the control system includes: a state acquisition module, which is used to obtain current modal information of the multimodal mobile robot; an environment perception module, which is used to obtain environmental information corresponding to the surrounding environment of the multimodal mobile robot when it is detected that the multimodal mobile robot enters a new environment; an analysis module, which is used to determine a modal switching instruction based on the current modal information and the environmental information, as well as a correspondence between preset environmental information and the robot mode; a control module, which is used to control the main body to move along the axial direction of the linear leg module and / or control the linear leg module to flip according to the modal switching instruction to complete the switching of the robot mode, and control the multimodal mobile robot to operate in the new environment based on the switched robot mode.

[0007] In a third aspect, a multimodal mobile robot is provided, comprising an active wheel module, a linear leg module, a passive wheel module, an ankle joint module and a main body, wherein the ankle joint module comprises a pitch rotation module, a yaw rotation module and a sole, and the main body comprises the multimodal mobile robot control system as described in the second aspect, a hip yaw rotation module, a hip pitch rotation module, an intermediate passive wheel and an intermediate passive wheel retraction module, and control of at least one of the active wheel module, the linear leg module, the passive wheel module, the ankle joint module and the main body is achieved by the multimodal mobile robot control method as described in the first aspect.

[0008] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and the computer program is suitable for loading by a processor to execute the steps in the multimodal mobile robot control method as described in any of the above embodiments.

[0009] The embodiment of the present application is applied to a multimodal mobile robot, which includes a driving wheel module, a linear leg module, a passive wheel module, an ankle joint module and a main body. By obtaining the current modal information of the multimodal mobile robot; when detecting that the multimodal mobile robot enters a new environment, obtaining environmental information corresponding to the surrounding environment of the multimodal mobile robot; determining a modal switching instruction based on the current modal information and environmental information, as well as the correspondence between the preset environmental information and the robot mode; according to the modal switching instruction, controlling the main body to move along the axis direction of the linear leg module, and / or controlling the linear leg module to flip, so as to complete the switching of the robot mode, and controlling the multimodal mobile robot to operate in the new environment based on the switched robot mode. The embodiment of the present application enables the robot to achieve rapid modal switching in different environments by judging the environmental information and switching the mode corresponding to the environmental information, so as to improve the robot's movement efficiency and reduce the robot's energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0011] Figure 1 Schematic diagram of the foot-type state structure of the multimodal mobile robot provided in an embodiment of the present application.

[0012] Figure 2 Schematic diagram of multiple mode switching of the multimodal mobile robot provided in an embodiment of the present application.

[0013] Figure 3 A schematic diagram of the dual-wheel state structure of the multimodal mobile robot provided in an embodiment of the present application.

[0014] Figure 4 A schematic diagram of the three-wheel state structure of the multimodal mobile robot provided in an embodiment of the present application.

[0015] Figure 5 A schematic diagram of the four-wheel state structure of the multimodal mobile robot provided in an embodiment of the present application.

[0016] Figure 6 A flow chart of a multimodal mobile robot control method provided in an embodiment of the present application.

[0017] Figure 7 Schematic diagram of the switching process between the footed state and the four-wheel state of the multimodal mobile robot provided in an embodiment of the present application.

[0018] Figure 8 Schematic diagram of the switching process between the three-wheel state and the four-wheel state of the multimodal mobile robot provided in an embodiment of the present application.

[0019] Figure 9 Schematic diagram of the switching process between the two-wheel state and the four-wheel state of the multimodal mobile robot provided in an embodiment of the present application.

[0020] Figure 10 Another flowchart of the multimodal mobile robot control method provided in an embodiment of the present application.

[0021] Figure 11 A schematic diagram of the structure of a multimodal mobile robot control system provided in an embodiment of the present application.

[0022] Figure 12 Another structural schematic diagram of the multimodal mobile robot control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0024] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0025] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or mutual communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0026] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0027] The disclosure below provides many different embodiments or examples for realizing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0028] Embodiments of the present application provide a multimodal mobile robot control method, system, robot, and medium. Specifically, the multimodal mobile robot control method of the embodiments of the present application can be executed by a computer device, wherein the computer device can be a multimodal mobile robot. The embodiments of the present application can be applied to various application scenarios such as artificial intelligence, robotics, mechatronics, cloud technology, and smart transportation.

[0029] First, some nouns or terms that appear in the description of the embodiments of this application are explained as follows:

[0030] Artificial Intelligence (AI) is the theory, methods, techniques, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, to perceive the environment, acquire knowledge, and use that knowledge to achieve optimal results. In other words, AI is a comprehensive technology within computer science that seeks to understand the essence of intelligence and produce new intelligent machines that can respond in a manner similar to human intelligence. AI also studies the design principles and implementation methods of various intelligent machines, enabling them to possess the capabilities of perception, reasoning, and decision-making.

[0031] A robot is a machine that can be programmed and automatically controlled to perform tasks such as movement or movement. Possessing fundamental capabilities such as perception, decision-making, and execution, robots can assist or even replace humans in completing dangerous, arduous, and complex tasks, improving work efficiency and quality, contributing to human well-being and expanding the scope of human activities and capabilities.

[0032] Mechatronics technology is a comprehensive high-tech technology that combines microelectronics technology, computer technology, information technology and mechanical technology. It is an organic combination of mechanical technology and microelectronics technology.

[0033] Degrees of freedom, according to mechanical principles, are the number of independent motion parameters that must be present for a mechanism to have a defined motion. The key words in the definition of degrees of freedom are unique, necessary, and independent. Uniquely defined means that given these variables, the robot has a unique configuration; necessary is a minimum number of variables that can determine the robot's state; and independent means that these variables can change independently.

[0034] Bipedal mobile robots can adapt to various complex terrains, but their low speed and poor stability limit their application in real-world human environments. Therefore, multimodal mobile robots have become a viable solution, combining the advantages of legged robots' multi-terrain adaptability with the dynamic performance of rapid movement.

[0035] The embodiment of the present application proposes a control method and control system suitable for a multimodal mobile robot. The multimodal mobile robot has four states, specifically including a footed state, a two-wheeled state, a three-wheeled state, and a four-wheeled state, which can realize movement under different environmental conditions. The control method can include state switching between a footed state and a four-wheeled state, a two-wheeled state and a four-wheeled state, a two-wheeled state and a three-wheeled state, and a three-wheeled state and a four-wheeled state; the multimodal mobile robot will switch modes according to different terrains, wherein after the robot enters a new environment, it uses the control system to judge environmental information and switch the corresponding mode, so that the robot can pass through the new environment, thereby improving the robot's movement efficiency and reducing the robot's energy consumption.

[0036] It should be noted that the order of description of the following embodiments does not limit the priority order of the embodiments.

[0037] See also Figures 1 to 5 , Figure 1 、 Figures 3 to 5 These are schematic diagrams of the structure of the multimodal mobile robot provided in the embodiments of the present application. Figure 2 Schematic diagram of multiple mode switching of a multimodal mobile robot provided in an embodiment of the present application. The embodiment of the present application provides a multimodal mobile robot, wherein the multimodal mobile robot 100 includes a driving wheel module 11, a linear leg module 12, a passive wheel module 13, an ankle joint module 14, and a main body 15. The ankle joint module 14 includes a pitch rotation module 141, a yaw rotation module 142, and a foot sole 143. The main body 15 includes a control system 151, a hip yaw rotation module 152, a hip pitch rotation module 153, an intermediate passive wheel 154, and an intermediate passive wheel retraction module 155.

[0038] Among them, the driving wheel module 11 and the passive wheel module 13 of the multimodal mobile robot 100 are respectively installed at both ends of the linear leg module 12, and the ankle joint module 14 is installed at one end where the passive wheel module 13 is located. The ankle joint module 14 includes three parts: a pitch rotation module 141, a yaw rotation module 142 and a sole 143. The pitch rotation module 141 is fixedly connected to one end of the linear leg module 12, the yaw rotation module 142 can rotate around the axis of the pitch rotation module 141, and the sole 143 can rotate around the axis of the yaw rotation module 142; the main body 15 is aligned along the central axis. It is said that the main body 15 includes a control system (multimodal mobile robot control system) 151, a hip deflection rotation module 152 is fixed on the frame where the control system 151 is located, and a hip pitch rotation module 153 can rotate around the axis of the hip deflection rotation module 152. The output end of the hip pitch rotation module 153 is connected to the straight leg module 12. The main body 15 can move up and down along the axis direction of the straight leg module 12, and the intermediate passive wheel retraction module 155 can swing along the frame where the control system 151 is located. The intermediate passive wheel 154 is connected to the end of the intermediate passive wheel retraction module 155.

[0039] like Figure 2 The multi-mode switching schematic diagram of the multi-modal mobile robot shown in FIG. 4 , wherein the multi-modes of the multi-modal mobile robot may include a footed state and a wheeled state, wherein the wheeled state may include a two-wheeled state, a three-wheeled state and a four-wheeled state, and the multi-mode switching method of the multi-modal mobile robot may include a process T1 of switching from a footed state S1 to a four-wheeled state S2, a process T2 of switching from a four-wheeled state S2 to a footed state S1, a process T3 of switching from a three-wheeled state S4 to a four-wheeled state S2, a process T4 of switching from a four-wheeled state S2 to a three-wheeled state S4, a process T5 of switching from a two-wheeled state S3 to a four-wheeled state S2, a process T6 of switching from a four-wheeled state S2 to a two-wheeled state S3, a process T7 of switching from a two-wheeled state S3 to a three-wheeled state S4, and a process T8 of switching from a three-wheeled state S4 to a two-wheeled state S3.

[0040] like Figure 1 As shown, the multimodal mobile robot 100 switches to a footed state (bipedal state), wherein the sole 143 of the ankle joint module 14 on the multimodal mobile robot is in contact with the ground, and the active wheel module 11 and the passive wheel module 13 are both away from the ground.

[0041] like Figure 3 As shown, the multimodal mobile robot 100 switches to a two-wheel state, in which the active wheel module 11 is in contact with the ground, the ankle joint module 14 falls on the other end of the straight leg module 12, and the middle passive wheel 154 on the main body 15 is in an off-ground state.

[0042] like Figure 4As shown, the multimodal mobile robot 100 switches to a three-wheel state, in which the active wheel module 11 is in contact with the ground, the ankle joint module 14 falls on the other end of the straight leg module 12, and the middle passive wheel 154 on the main body 15 is in a grounded state.

[0043] like Figure 5 As shown, the multimodal mobile robot 100 switches to a four-wheel state, wherein the active wheel module 11 is in contact with the ground, the passive wheel module 13 is in contact with the ground, and the sole 143 of the ankle joint module 14 is off the ground.

[0044] Optionally, the main body 15 further includes an expandable structure 156, which comprises a middle frame support 1561, a first swing arm 1562, an intermediate swing arm 1563, and a second swing arm 1564, connected end to end. The expandable structure 156 is symmetrically distributed along the central axis of the middle frame support 1561. Optionally, the expandable structure 156 comprises the middle frame support 1561, the first swing arm 1562, the intermediate swing arm 1563, and the second swing arm 1564, connected end to end to form a parallelogram linkage. When the robot is in a two-wheeled or two-legged state, the expandable structure 156 of the main body 15 controls the rotation angle of the first swing arm 1562 or the second swing arm 1564 to expand or fold the main body 15, thereby changing the workspace of the multimodal robot 100 and enabling the multimodal robot 100 to freely navigate narrow or wide paths. For example, the rotation angle is the angle between the first swing arm 1562 and the second swing arm 1564 and the horizontal. When the rotation angle is a flat angle (180°), the main body 15 is in an unfolded state; when the rotation angle is a preset acute angle, the main body 15 is in a folded state.

[0045] Optionally, whether on flat or rough terrain, when the multimodal robot 100 needs to pass through a narrow path, the deployable mechanism 156 of the main body 15 can be controlled to fold the main body 15 by controlling the rotation angle of the first swing arm 1562 or the second swing arm 1564, so that the multimodal robot 100 can pass through the narrow path smoothly. When the multimodal robot 100 needs to pass through a wide path, the deployable mechanism 156 can also pass through smoothly in the folded state. Furthermore, in order to enable the multimodal robot 100 to maintain better balance, the deployable mechanism 156 of the main body 15 can also be controlled to unfold the main body 15 by controlling the rotation angle of the first swing arm 1562 or the second swing arm 1564, so that the multimodal robot 100 maintains a higher balance to pass through the wide path. When the deployable mechanism 156 is in the deployed state, the multimodal robot 100 can run more smoothly when running fast or accelerating.

[0046] Optionally, before switching the robot mode, the parallelogram linkage needs to be adjusted as follows: Figure 1The upper end position of the linear leg module 12 is shown, wherein the parallelogram linkage mechanism is formed by connecting the frame bracket 1561, the first rocker 1562, the middle rocker 1563 and the second rocker 1564 end to end.

[0047] See also Figures 6 to 10 , Figure 6 and Figure 10 A flow chart of a multimodal mobile robot control method provided in an embodiment of the present application is provided. Figures 7 to 9 Schematic diagram of the switching process of multiple modes of the multimodal mobile robot provided in the embodiment of the present application. Figures 1 to 5 The multimodal robot 100 shown includes an active wheel module 11, a linear leg module 12, a passive wheel module 13, an ankle joint module 14, and a main body 15. The method includes:

[0048] Step 610: Acquire current modal information of the multimodal mobile robot.

[0049] The current modal information may be the multimodal mobile robot's own posture and corresponding modal status at the current time point. The robot modality may include: Figure 2 The robot's own posture may include the current posture of each module or device in the robot.

[0050] Step 620: When it is detected that the multimodal mobile robot enters a new environment, environmental information corresponding to the surrounding environment of the multimodal mobile robot is obtained.

[0051] For example, an environmental perception module such as a camera or a sensor (visual sensor, mechanical sensor, acoustic sensor, etc.) installed on the robot can be used to detect whether the multimodal mobile robot has entered a new environment. For example, the environmental perception module can acquire an image of the multimodal mobile robot's surroundings or the distance between the robot and an obstacle at every preset time interval (e.g., every N seconds).

[0052] For example, if the surrounding environment image of the multimodal mobile robot is obtained through the environmental perception module, the image feature difference values ​​of the surrounding environment images obtained at the current time point and the previous time point are compared. If the image feature difference value reaches a first preset value, it is determined that the multimodal mobile robot enters a new environment, and the environmental information corresponding to the surrounding environment of the multimodal mobile robot is obtained.

[0053] For example, if the distance between the multimodal mobile robot and the obstacle is obtained through the environment perception module,

[0054] The distance between the robot and the obstacle at the previous time point is taken as the first distance, and the distance between the robot and the obstacle at the current time point is taken as the second distance. Then, by comparing the distance difference between the first distance and the second distance obtained at the current time point and the previous time point, if the distance difference reaches a second preset value, it is determined that the multimodal mobile robot enters a new environment, and environmental information corresponding to the surrounding environment of the multimodal mobile robot is obtained.

[0055] The environmental information is specific surrounding environment data, which may include terrain information, road condition information, and the road condition response that the robot needs to make based on the road condition information. For example, the terrain information may include flat terrain, rough terrain, etc. For example, the road condition information may include wide roads, narrow roads, etc. For example, the road condition response may include turning, turning around, stopping on flat ground, etc.

[0056] Step 630 : Determine a mode switching instruction based on the current mode information, the environment information, and a preset correspondence between the environment information and the robot mode.

[0057] Optionally, the correspondence between the preset environmental information and the robot mode includes: if the environmental information is a wide road on flat terrain with an intermediate obstacle, the corresponding robot mode is a two-wheel state; if the environmental information is a wide road on flat terrain with no intermediate obstacle, the corresponding robot mode is a four-wheel state or a three-wheel state; if the environmental information is a narrow road on flat terrain, the corresponding robot mode is a two-wheel state or a foot-type state; if the environmental information is a turn or a U-turn on flat terrain, the corresponding robot mode is one of the two-wheel state, the three-wheel state, and the four-wheel state; if the environmental information is stationary on flat ground on flat terrain, the corresponding robot mode is one of the foot-type state, the four-wheel state, and the three-wheel state; if the environmental information is a rugged terrain, the corresponding robot mode is a foot-type state.

[0058] For example, the four-wheel mode can effectively improve the robot's stability and load capacity; the three-wheel mode can keep the robot stable in a stationary state and has the characteristics of a small footprint; the two-wheel mode allows the robot to pass through different flat surfaces such as wide roads and narrow roads and has a certain degree of high dynamics and flexibility; the robot can move on complex terrain in the foot-type mode, and the straight leg module can enable the robot to have a higher load capacity while reducing the power requirements of the main body.

[0059] For example, in actual applications, if the environmental information is a wide road with flat terrain and there is an intermediate obstacle, the corresponding robot mode can be prioritized to the two-wheel state. Optionally, if the two-wheel state cannot meet the current environmental conditions and / or the current load situation of the robot, such as when the camera or sensor detects that there is water on the ground or the ground is slippery, the robot may determine that the current environmental conditions are not suitable for the two-wheel state, and the robot mode can be matched to the bipedal state or the three-wheel state. Optionally, if the current mode is the four-wheel mode and the current load situation is that the robot is carrying a load and moving forward, such as when the sensor detects that the distance between the obstacle and the edge of the road is greater than the width of the robot in the four-wheel state, in order to ensure that the robot has better stability and load capacity, the robot may determine that the four-wheel state is the priority state, and the robot mode can be matched to the four-wheel state.

[0060] For example, in a practical application, if the environment information is a wide road with flat terrain and no intermediate obstacles, the corresponding robot mode can be preferentially set to four-wheel state or three-wheel state. Alternatively, if the four-wheel state cannot meet the current environmental conditions and / or the current load of the robot, such as when the camera or sensor detects that the ground is wet or slippery, the robot may determine that the current environmental conditions are not suitable for four-wheel state, and the robot mode can be matched to the bipedal state.

[0061] For example, in actual applications, if the environment information is a narrow road on flat terrain, the corresponding robot mode may be preferentially set to the two-wheel state or the foot-based state. Optionally, if the stability of the two-wheel state or the foot-based state does not meet the stability condition, for example, when the swing amplitude of the robot's main body axis relative to the vertical ground is greater than a preset amplitude and the swing frequency is greater than a preset frequency when the two-wheel state or the foot-based state is detected, it is determined that the stability of the two-wheel state or the foot-based state does not meet the stability condition, and the robot mode can be matched to the three-wheel state to increase the robot's stability.

[0062] For example, in actual applications, if the environmental information is a turn or U-turn on flat terrain, the corresponding robot mode may be preferentially one of the two-wheel state, the three-wheel state, or the four-wheel state. Alternatively, if the three-wheel state or the four-wheel state cannot meet the current environmental conditions and / or the current load of the robot, such as when the camera or sensor detects that the ground is wet or slippery, the robot may determine that the current environmental conditions are not suitable for the two-wheel state or the four-wheel state, and the robot mode may be matched to the bipedal state.

[0063] For example, in practical applications, if the environmental information is a stationary robot on a flat terrain, the corresponding robot mode may be preferentially one of a footed state, a four-wheel state, and a three-wheel state.

[0064] For example, in practical applications, if the environmental information is a rough terrain, the corresponding robot mode may be preferentially the foot-type state.

[0065] Optionally, the mode switching instruction is determined according to the current mode information and the environmental information, as well as the correspondence between the preset environmental information and the robot mode, including: if the current mode information is a footed state, and the environmental information is a wide road with flat terrain and an intermediate obstacle, then according to the correspondence between the current mode information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is switching from the footed state to the two-wheel state; or if the current mode information is a footed state, and the environmental information is a wide road with flat terrain and no intermediate obstacle, then according to the current mode information, the environmental information According to the correspondence between the preset environmental information and the robot mode, the mode switching instruction generated is to switch from the footed state to the four-wheel state, or the mode switching instruction generated is to switch from the footed state to the four-wheel state and then switch from the four-wheel state to the three-wheel state; or if the current mode information is the footed state and the environmental information is a narrow road on flat terrain, then according to the correspondence between the current mode information, the environmental information and the preset environmental information and the robot mode, the mode switching instruction generated is to switch from the footed state to the four-wheel state and then switch from the four-wheel state to the two-wheel state, or the mode switching instruction generated is to maintain the footed state state; or if the current modal information is a footed state, and the environmental information is a turn or U-turn under flat terrain, then, according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode, the generated modal switching instruction is to switch from the footed state to the four-wheel state, and then from the four-wheel state to the two-wheel state, or the generated modal switching instruction is to switch from the footed state to the four-wheel state, and then from the four-wheel state to the three-wheel state, or the generated modal switching instruction is to switch from the footed state to the four-wheel state; or if the current modal information is a footed state, and the environmental information is a flat ground under flat terrain, If the robot is stationary, then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot modality, the mode switching instruction generated is to maintain the footed state, or the mode switching instruction generated is to switch from the footed state to the four-wheel state and then from the four-wheel state to the three-wheel state, or the mode switching instruction generated is to switch from the footed state to the four-wheel state; or if the current modal information is the footed state and the environmental information is rugged terrain, then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot modality, the mode switching instruction generated is to maintain the footed state.

[0066] Optionally, the mode switching instruction is determined based on the current mode information and the environmental information, as well as the correspondence between the preset environmental information and the robot mode, including: if the current mode information is a four-wheel state, and the environmental information is a wide road with flat terrain and an intermediate obstacle, then the mode switching instruction generated based on the current mode information, the environmental information, the preset environmental information and the correspondence between the robot mode and the mode is to switch from the four-wheel state to the two-wheel state; or if the current mode information is a four-wheel state, and the environmental information is a wide road with flat terrain and no intermediate obstacles , then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to maintain the four-wheel state, or the mode switching instruction generated is to switch from the four-wheel state to the three-wheel state; or if the current modal information is the four-wheel state and the environmental information is a narrow road on flat terrain, then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to switch from the four-wheel state to the two-wheel state, or the mode switching instruction generated is to switch from the four-wheel state to the two-wheel state. The mode switching instruction is switched from the four-wheel state to the foot state; or if the current mode information is the four-wheel state and the environmental information is turning or turning on flat terrain, then according to the corresponding relationship between the current mode information, the environmental information, the preset environmental information and the robot mode, the generated mode switching instruction is switched from the four-wheel state to the two-wheel state, or the generated mode switching instruction is switched from the four-wheel state to the three-wheel state, or the generated mode switching instruction maintains the four-wheel state; or if the current mode information is the four-wheel state and the environmental information is stationary on flat ground under flat terrain, then according to the current mode information, the environmental information, the preset environmental information and the robot mode, the generated mode switching instruction is switched from the four-wheel state to the three-wheel state. According to the correspondence between the previous modal information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to switch from the four-wheel state to the footed state, or the mode switching instruction generated is to switch from the four-wheel state to the three-wheel state, or the mode switching instruction generated is to maintain the four-wheel state; or if the current modal information is the four-wheel state and the environmental information is rugged terrain, then according to the correspondence between the current modal information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to switch from the four-wheel state to the footed state.

[0067] Optionally, the mode switching instruction is determined based on the current mode information and the environmental information, as well as the correspondence between the preset environmental information and the robot mode, including: if the current mode information is a three-wheel state, and the environmental information is a wide road with flat terrain and there is an intermediate obstacle, then the mode switching instruction generated based on the current mode information, the environmental information, the preset environmental information and the robot mode is to switch from the three-wheel state to the two-wheel state; or if the current mode information is a three-wheel state, and the environmental information is a wide road with flat terrain and no intermediate obstacle, then the mode switching instruction generated based on the current mode information, the environmental information, the preset environmental information and the robot mode is to switch from the three-wheel state to the two-wheel state. According to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to maintain the three-wheel state, or the mode switching instruction generated is to switch from the three-wheel state to the four-wheel state; or if the current modal information is the three-wheel state and the environmental information is a narrow road on flat terrain, then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to switch from the three-wheel state to the two-wheel state, or the mode switching instruction generated is to switch from the three-wheel state to the four-wheel state and then from the four-wheel state to the foot state. or if the current modal information is a three-wheel state and the environmental information is a turn or a U-turn on flat terrain, then, based on the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode, the generated modal switching instruction is to switch from the three-wheel state to the two-wheel state, or the generated modal switching instruction is to maintain the three-wheel state, or the generated modal switching instruction is to switch from the three-wheel state to the four-wheel state; or if the current modal information is a three-wheel state and the environmental information is stationary on flat ground on flat terrain, then, based on the current modal information, the environmental information and the preset environmental information According to the correspondence between the current modal information and the robot mode, the mode switching instruction generated is to switch from the three-wheel state to the four-wheel state and then switch from the four-wheel state to the footed state, or the mode switching instruction generated is to maintain the three-wheel state, or the mode switching instruction generated is to switch from the three-wheel state to the four-wheel state; or if the current modal information is the three-wheel state and the environmental information is rugged terrain, then according to the correspondence between the current modal information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to switch from the three-wheel state to the four-wheel state and then switch from the four-wheel state to the footed state.

[0068] Optionally, the mode switching instruction is determined according to the current mode information and the environmental information, as well as the correspondence between the preset environmental information and the robot mode, including: if the current mode information is a two-wheel state, and the environmental information is a wide road with flat terrain and an intermediate obstacle, then according to the correspondence between the current mode information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to maintain the two-wheel state; or if the current mode information is a two-wheel state, and the environmental information is a wide road with flat terrain and no intermediate obstacle, then according to the current mode information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to maintain the two-wheel state. According to the correspondence between the current modal information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to switch from the two-wheel state to the three-wheel state, or the mode switching instruction generated is to switch from the two-wheel state to the four-wheel state; or if the current modal information is the two-wheel state and the environmental information is a narrow road on flat terrain, then according to the correspondence between the current modal information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to maintain the two-wheel state, or the mode switching instruction generated is to switch from the two-wheel state to the four-wheel state and then switch from the four-wheel state to the foot state; or if If the current modal information is a two-wheel state and the environmental information is a turn or a U-turn on a flat terrain, then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode, the generated modal switching instruction is to maintain the two-wheel state, or the generated modal switching instruction is to maintain the two-wheel state and switch to the three-wheel state, or the generated modal switching instruction is to switch the two-wheel state to the four-wheel state; or if the current modal information is a two-wheel state and the environmental information is a flat ground stationary state on a flat terrain, then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode, the generated modal switching instruction is to maintain the two-wheel state, or the generated modal switching instruction is to switch the two-wheel state to the four-wheel state. According to the correspondence between the robot mode, the mode switching instruction generated is to switch from the two-wheel state to the four-wheel state and then from the four-wheel state to the footed state, or the mode switching instruction generated is to switch from the two-wheel state to the three-wheel state, or the mode switching instruction generated is to switch from the two-wheel state to the four-wheel state; or if the current mode information is the two-wheel state and the environmental information is rugged terrain, then according to the correspondence between the current mode information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to switch from the two-wheel state to the four-wheel state and then from the four-wheel state to the footed state.

[0069] Optionally, the main body includes a deployable structure, the deployable structure including a middle frame bracket, a first swing arm, an intermediate swing arm, and a second swing arm connected end to end, and the method further includes:

[0070] If the environmental information is a narrow road on flat terrain or a narrow road on rugged terrain, after determining the mode switching instruction, a folding instruction is generated, wherein the folding instruction is used to adjust the rotation angle of the first swing arm or the second swing arm of the deployable structure to achieve folding of the main body; or

[0071] If the environmental information is a wide road on flat terrain or a wide road on rugged terrain, after determining the mode switching instruction, an unfolding instruction is generated, and the folding instruction is used to adjust the rotation angle of the first rocker arm or the second rocker arm of the deployable structure to realize the unfolding of the main body.

[0072] Step 640, according to the mode switching instruction, controls the main body to move along the axial direction of the linear leg module, and / or controls the linear leg module to flip, so as to complete the switching of the robot mode, and controls the multimodal mobile robot to operate in the new environment based on the switched robot mode.

[0073] Optionally, the ankle joint module includes a sole, the main body includes an intermediate passive wheel, and according to the mode switching instruction, controlling the main body to move along the axis direction of the linear leg module and / or controlling the linear leg module to flip to complete the switching of the robot mode includes:

[0074] According to the mode switching instruction, the main body is controlled to move along the axial direction of the linear leg module, and / or the linear leg module is controlled to flip, so as to adjust the contact state of at least one of the active wheel module, the passive wheel module, the intermediate passive wheel and the sole with the ground, so that the mode of the robot is changed to a wheeled state or a footed state.

[0075] The ankle joint module also includes a pitch rotation module and a yaw rotation module, and the main body also includes a control system, a hip yaw rotation module, a hip pitch rotation module and an intermediate passive wheel retraction module; wherein, the active wheel module and the passive wheel module are respectively installed at both ends of the straight leg module, and the ankle joint module is installed at one end where the passive wheel module is located; the pitch rotation module is fixedly connected to one end of the straight leg module, the yaw rotation module can rotate around the axis of the pitch rotation module, and the sole of the foot can rotate around the axis of the yaw rotation module; the main body is symmetrical along the central axis, the hip yaw rotation module is fixed on the frame where the control system is located, the hip pitch rotation module can rotate around the axis of the hip yaw rotation module, the output end of the hip pitch rotation module is connected to the straight leg module, the main body can move up and down along the axis direction of the straight leg module, the intermediate passive wheel retraction module can swing along the frame where the control system is located, and the intermediate passive wheel is connected to the end of the intermediate passive wheel retraction module.

[0076] For example, continue to see Figure 1 The multimodal mobile robot 100 includes a driving wheel module 11, a linear leg module 12, a passive wheel module 13, an ankle joint module 14 and a main body 15. The ankle joint module 14 includes a pitch rotation module 141, a yaw rotation module 142 and a sole 143. The main body 15 includes a control system 151, a hip yaw rotation module 152, a hip pitch rotation module 153, an intermediate passive wheel 154 and an intermediate passive wheel retraction module 155. The driving wheel module 11 and the passive wheel module 13 of the multimodal mobile robot are respectively installed at both ends of the linear leg module 12, and the ankle joint module 14 is installed at the end where the passive wheel module 13 is located. The ankle joint module 14 includes three parts: a pitch rotation module 141, a yaw rotation module 142 and a sole 143. The pitch rotation module 141 is fixedly connected to one end of the linear leg module 12, the yaw rotation module 142 can rotate around the axis of the pitch rotation module 141, and the sole 143 can rotate around the axis of the yaw rotation module 142. The main body 15 Symmetrical along the central axis, the main body 15 includes a control system 151, a hip deflection rotation module 152 is fixed on the frame where the control system 151 is located, and the hip pitch rotation module 153 can rotate around the axis of the hip deflection rotation module 152. The output end of the hip pitch rotation module 153 is connected to the straight leg module 12. The main body 15 can move up and down along the axis direction of the straight leg module 12, and the intermediate passive wheel retraction module 155 can swing along the frame where the control system 151 is located. The intermediate passive wheel 154 is connected to the end of the intermediate passive wheel retraction module 155.

[0077] Optionally, if the mode switching instruction is to switch from the footed state to the four-wheel state, then according to the mode switching instruction, the main body is controlled to move along the axial direction of the straight leg module, and / or the straight leg module is controlled to flip to complete the switching of the robot mode, including: if the current mode is in the footed state, the sole of the ankle joint module on the multimodal mobile robot is in contact with the ground; after receiving the mode switching instruction to switch from the footed state to the four-wheel state, the pitch rotation module is controlled to drive the straight leg module to rotate around the axis of the pitch rotation module until the active wheel module and the passive wheel module are in contact with the ground, and the sole of the ankle joint module is controlled to turn in the direction of leaving the ground to achieve the mode switching from the footed state to the four-wheel state.

[0078] For example, Figure 7As shown, the T1 process (the process of switching from the footed state S1 to the four-wheel state S2) is: if the current mode is the footed state S1, the sole 143 of the ankle joint module 14 on the multimodal mobile robot initially contacts the ground; when receiving the mode switching instruction to switch from the footed state S1 to the four-wheel state S2, the pitch rotation module 141 is controlled to drive the straight leg module 12 of the multimodal robot to rotate around the axis of the pitch rotation module 141 until the active wheel module 11 and the passive wheel module 13 are in contact with the ground, and the sole 143 of the ankle joint module 14 is controlled to turn in the direction of leaving the ground, so as to realize the mode switching from the footed state S1 to the four-wheel state S2.

[0079] Optionally, if the mode switching instruction is to switch from the four-wheel state to the footed state, then according to the mode switching instruction, the main body is controlled to move along the axial direction of the straight leg module, and / or the straight leg module is controlled to flip to complete the switching of the robot mode, including: if the current mode is in the four-wheel state, the active wheel module and the passive wheel module on the multimodal mobile robot are both in a grounded state; after receiving the mode switching instruction to switch from the four-wheel state to the footed state, the sole of the ankle joint module is controlled to turn toward the ground and contact the ground, and the pitch rotation module is controlled to drive the straight leg module to rotate around the axis of the pitch rotation module until the active wheel module and the passive wheel module are away from the ground, so as to realize the mode switching from the four-wheel state to the footed state.

[0080] For example, the T2 process is opposite to the T1 process. Figure 7 As shown, the T2 process (the process of switching from the four-wheel state S2 to the footed state S1) is: if the current mode is the four-wheel state S2, the active wheel module 11 and the passive wheel module 13 on the multimodal mobile robot are both in the grounded state; when receiving the mode switching instruction to switch from the four-wheel state S2 to the footed state S1, the sole 143 of the ankle joint module 14 is controlled to turn toward the ground and contact the ground, and the pitch rotation module 141 is controlled to drive the straight leg module 12 of the multimodal robot to rotate around the axis of the pitch rotation module 141 until the active wheel module 11 and the passive wheel module 13 are away from the ground, and the straight leg module 12 is perpendicular to the ground, so as to realize the mode switching from the four-wheel state S2 to the footed state S1.

[0081] Optionally, if the mode switching instruction is to switch from the three-wheel state to the four-wheel state, then according to the mode switching instruction, the main body is controlled to move along the axial direction of the straight-line leg module, and / or the straight-line leg module is controlled to flip to complete the switching of the robot mode, including: if the current mode is in the three-wheel state, the active wheel module and the intermediate passive wheel on the multimodal mobile robot are both in a grounded state; when receiving the mode switching instruction to switch from the three-wheel state to the four-wheel state, the intermediate passive wheel retraction module is controlled to retract the intermediate passive wheel, and the straight-line leg module is controlled to rotate around the axis of the hip pitch rotation module, so that the straight-line leg module tilts until the passive wheel module contacts the ground to realize the mode switching from the three-wheel state to the four-wheel state.

[0082] For example, Figure 8 As shown, the T3 process (the process of switching from the three-wheel state S4 to the four-wheel state S2) is: if the current mode is the three-wheel state S4, the active wheel module 11 and the intermediate passive wheel 154 on the multimodal mobile robot are both in the grounded state; when receiving the mode switching instruction to switch from the three-wheel state S4 to the four-wheel state S2, the intermediate passive wheel retraction module 155 can be controlled to retract the intermediate passive wheel 154, and then the straight leg module 12 can be controlled to rotate around the axis of the hip pitch rotation module 153, so that the straight leg module 12 tilts until the passive wheel module 13 contacts the ground. At this time, the intermediate passive wheel 154 is retracted by the intermediate passive wheel retraction module 155, and the active wheel module 11 and the passive wheel module 13 are both in contact with the ground, so as to realize the mode switching from the three-wheel state S4 to the four-wheel state S2.

[0083] Optionally, if the mode switching instruction is to switch from the four-wheel state to the three-wheel state, then according to the mode switching instruction, the main body is controlled to move along the axial direction of the straight-line leg module, and / or the straight-line leg module is controlled to flip to complete the switching of the robot mode, including: if the current mode is in the four-wheel state, the active wheel module and the passive wheel module on the multimodal mobile robot are both in a grounded state; when receiving the mode switching instruction to switch from the four-wheel state to the three-wheel state, the straight-line leg module is controlled to rotate around the axis of the hip pitch rotation module so that the straight-line leg module tilts until the passive wheel module is away from the ground, and the intermediate passive wheel retraction module is controlled to extend the intermediate passive wheel until it contacts the ground to realize the mode switching from the four-wheel state to the three-wheel state.

[0084] The T4 process is the opposite of the T3 process. Figure 8As shown, the T4 process (the process of switching from the four-wheel state S2 to the three-wheel state S4) is: if the current mode is the four-wheel state S2, the active wheel module 11 and the passive wheel module 13 on the multimodal mobile robot are both in the grounded state; when receiving the mode switching instruction to switch from the four-wheel state S2 to the three-wheel state S4, the straight leg module 12 is controlled to rotate around the axis of the hip pitch rotation module 153, so that the straight leg module 12 tilts until the passive wheel module 13 is away from the ground, and the intermediate passive wheel retraction module 155 is controlled to extend the intermediate passive wheel 154 until it contacts the ground, and the straight leg module 12 is perpendicular to the ground, so as to realize the mode switching from the four-wheel state S2 to the three-wheel state S4.

[0085] Optionally, if the mode switching instruction is to switch from the two-wheel state to the four-wheel state, then according to the mode switching instruction, the main body is controlled to move along the axial direction of the linear leg module, and / or the linear leg module is controlled to flip to complete the switching of the robot mode, including: if the current mode is in the two-wheel state, the active wheel module on the multimodal mobile robot is in a grounded state, and the middle passive wheel is away from the ground; when receiving the mode switching instruction to switch from the two-wheel state to the four-wheel state, the linear leg module is controlled to rotate around the axis of the hip pitch rotation module, so that the linear leg module tilts until the passive wheel module contacts the ground to realize the mode switching from the two-wheel state to the four-wheel state.

[0086] For example, Figure 9 As shown, the T5 process (the process of switching from the two-wheel state S3 to the four-wheel state S2) is: if the current mode is the two-wheel state S3, the active wheel module 11 on the multimodal mobile robot is in a grounded state; when receiving the mode switching instruction to switch from the two-wheel state S3 to the four-wheel state S2, the straight leg module 12 is controlled to rotate around the axis of the hip pitch rotation module 153, so that the straight leg module 12 tilts until the passive wheel module 13 contacts the ground. At this time, the active wheel module 11 and the passive wheel module 13 are both in contact with the ground to realize the mode switching from the two-wheel state S3 to the four-wheel state S2.

[0087] Optionally, if the mode switching instruction is to switch from the four-wheel state to the two-wheel state, then according to the mode switching instruction, the main body is controlled to move along the axial direction of the linear leg module, and / or the linear leg module is controlled to flip to complete the switching of the robot mode, including: if the current mode is in the four-wheel state, the active wheel module and the passive wheel module on the multimodal mobile robot are both in a grounded state; when receiving the mode switching instruction to switch from the four-wheel state to the two-wheel state, the linear leg module is controlled to rotate around the axis of the hip pitch rotation module, so that the linear leg module tilts until the passive wheel module is away from the ground, so as to realize the mode switching from the four-wheel state to the two-wheel state.

[0088] The T6 process is the opposite of the T5 process. Figure 9 As shown, the T6 process (the process of switching from the four-wheel state S2 to the two-wheel state S3) is: if the current mode is the four-wheel state S2, the active wheel module 11 and the passive wheel module 13 on the multimodal mobile robot are both in the grounded state; when receiving the mode switching instruction to switch from the four-wheel state S2 to the two-wheel state S3, the linear leg module 12 is controlled to rotate around the axis of the hip pitch rotation module 153, so that the linear leg module 12 tilts until the passive wheel module 13 is away from the ground and the linear leg module 12 is perpendicular to the ground, so as to realize the mode switching from the four-wheel state S2 to the two-wheel state S3.

[0089] Optionally, if the mode switching instruction is to switch from the two-wheel state to the three-wheel state, then according to the mode switching instruction, the main body is controlled to move along the axial direction of the straight leg module, and / or the straight leg module is controlled to flip to complete the switching of the robot mode, including: if the current mode is in the two-wheel state, the active wheel module on the multimodal mobile robot is in a grounded state, and the intermediate passive wheel is away from the ground; when the mode switching instruction to switch from the two-wheel state to the three-wheel state is received, the main body is controlled to move downward along the straight leg module until the intermediate passive wheel contacts the ground to realize the mode switching from the two-wheel state to the three-wheel state.

[0090] For example, Figure 3 and Figure 4 As shown, the T7 process (the process of switching from the two-wheel state S3 to the three-wheel state S4) is as follows: if the current mode is the two-wheel state S3, the driving wheel module 11 on the multimodal mobile robot is in the grounded state, and the middle passive wheel 154 is away from the ground (such as Figure 3 When receiving the mode switching instruction of switching from the two-wheel state S3 to the three-wheel state S4, the control body 15 moves downward along the linear leg module 12 until the middle passive wheel 154 contacts the ground (as shown); Figure 4 As shown), to achieve the mode switching from the two-wheel state S3 to the three-wheel state S4.

[0091] Optionally, if the mode switching instruction is to switch from the three-wheel state to the two-wheel state, then according to the mode switching instruction, the main body is controlled to move along the axial direction of the straight leg module, and / or the straight leg module is controlled to flip to complete the switching of the robot mode, including: if the current mode is in the three-wheel state, the active wheel module and the intermediate passive wheel on the multimodal mobile robot are both in a grounded state; when receiving the mode switching instruction for the process of switching from the three-wheel state to the two-wheel state, the main body is controlled to move upward along the straight leg module until the intermediate passive wheel is away from the ground to realize the mode switching from the three-wheel state to the two-wheel state.

[0092] The T8 process is opposite to the T7 process. For example, the T7 process (the process of switching from the three-wheel state S4 to the two-wheel state S3) is: if the current mode is the three-wheel state S4, the active wheel module 71 and the middle passive wheel 754 on the multimodal mobile robot are both in the grounded state (such as Figure 4 When receiving the mode switching instruction of the process switching from the three-wheel state S4 to the two-wheel state S3, the control body 75 moves upward along the linear leg module 72 until the middle passive wheel 754 is away from the ground (as shown); Figure 3 As shown), to achieve the mode switching from the three-wheel state S4 to the two-wheel state S3.

[0093] For example, during the mode switching process between the above states, the posture adjustment of the main body 15 can also be considered, and the center of gravity of the main body 15 can be adjusted by adjusting the posture of the main body 15. For example, during the mode switching process, the posture of the main body 15 can be adjusted to a state perpendicular to the ground.

[0094] For example, in addition to the above 8 modes switching, it can also include mode switching between the foot state S1 and the two-wheel state S3. Figure 7 As shown in the upright state on the far right, if the passive wheel module 13 is located on the left side of the straight leg module 12, when receiving the mode switching instruction to switch from the foot-type state S1 to the two-wheel state S3, the pitch rotation module 141 is controlled to drive the straight leg module 12 of the multimodal robot to rotate clockwise around the axis of the pitch rotation module 141 (i.e., rotate toward the side away from the passive wheel module 13) until the active wheel module 11 contacts the ground, and controls the sole 143 of the ankle joint module 14 to turn in the direction of leaving the ground, and cooperates with the center of gravity adjustment of the main body 15 to achieve the switching between the foot-type state S1 and the two-wheel state S3.

[0095] Optionally, the method also includes: if the folding instruction is received, adjusting the rotation angle of the first rocker arm or the second rocker arm of the expandable structure according to the folding instruction to achieve the folding of the main body; or if the unfolding instruction is received, adjusting the rotation angle of the first rocker arm or the second rocker arm of the expandable structure according to the folding instruction to achieve the unfolding of the main body.

[0096] For example, the rotation angle is the angle between the first swing arm and the second swing arm relative to the horizontal direction. When the rotation angle is 180 degrees, the main body is in the unfolded state; when the rotation angle is a preset acute angle, the main body is in the folded state.

[0097] Optionally, when controlling the multimodal mobile robot to operate in the new environment based on the switched robot mode, it also includes: obtaining an operating speed control instruction, and controlling the multimodal mobile robot to operate in the new environment based on the operating speed indicated in the operating speed control instruction.

[0098] In order to better illustrate the multimodal mobile robot control method of the embodiment of the present application, the embodiment of the present application also provides the following Figure 10 Another flowchart of the multimodal mobile robot control method.

[0099] like Figure 10 As shown, the process of the multimodal mobile robot switching modes under different terrains can be explained as follows: Step 1010: The multimodal mobile robot operates in the current mode in the current environment; Step 1020: The robot enters a new environment; Step 1030: The control system identifies environmental information and, based on the current mode and environmental information, as well as the preset correspondence between environmental information and robot modes, determines and outputs a mode switching instruction; Step 1040: The robot executes the mode switching instruction to switch the motion mode; Step 1050: The robot successfully passes through the new environment. Step 1060: After executing the above mode switching command, the robot also determines whether the robot is stationary at the target location. If so, Step 1070 is executed to stationary the robot; if not, the robot is controlled to repeat the process of Steps 1010 to 1050.

[0100] Among them, in steps 1020 to 1040, the correspondence between the preset environmental information and the robot mode is as follows: if the environmental information is a wide road on flat terrain with an intermediate obstacle, the corresponding robot mode is a two-wheel state; if the environmental information is a wide road on flat terrain with no intermediate obstacle, the corresponding robot mode is a four-wheel state or a three-wheel state; if the environmental information is a narrow road on flat terrain, the corresponding robot mode is a two-wheel state or a footed state; if the environmental information is a turn or a U-turn on flat terrain, the corresponding robot mode is one of the two-wheel state, the three-wheel state, and the four-wheel state; if the environmental information is a stationary flat ground on flat terrain, the corresponding robot mode is one of the footed state, the four-wheel state, and the three-wheel state; if the environmental information is a rough terrain, the corresponding robot mode is a footed state. For example, the rough terrain may include stairs, wilderness, complex environment, etc. For example, if the environmental information is any of stairs, wilderness, and complex environment, the corresponding robot mode is a footed state.

[0101] All of the above technical solutions can be combined in any way to form optional embodiments of the present application, and will not be described in detail here.

[0102] The embodiment of the present application obtains the current modal information of the multimodal mobile robot; when the multimodal mobile robot is detected to enter a new environment, the environmental information corresponding to the surrounding environment of the multimodal mobile robot is obtained; based on the current modal information and environmental information, as well as the correspondence between the preset environmental information and the robot mode, a modal switching instruction is determined; according to the modal switching instruction, the main body is controlled to move along the axis direction of the linear leg module, and / or the linear leg module is controlled to flip to complete the switching of the robot mode, and the multimodal mobile robot is controlled to operate in the new environment based on the switched robot mode. The embodiment of the present application judges the environmental information and switches the mode corresponding to the environmental information, so that the robot can achieve rapid mode switching in different environments, thereby improving the robot's movement efficiency and reducing the robot's energy consumption.

[0103] In order to better implement the multimodal mobile robot control method of the embodiment of the present application, the embodiment of the present application also provides a multimodal mobile robot control system. Figure 11 , Figure 11 This is a schematic diagram of the structure of a multimodal mobile robot control system provided in an embodiment of the present application. The multimodal mobile robot control system 1100 is applied to a multimodal mobile robot, which includes a driving wheel module, a linear leg module, a passive wheel module, an ankle joint module, and a main body. The multimodal mobile robot control system 1100 may include:

[0104] A state acquisition module 1110 is used to obtain current modal information of the multimodal mobile robot;

[0105] The environment perception module 1120 is configured to obtain environmental information corresponding to the surrounding environment of the multimodal mobile robot when detecting that the multimodal mobile robot enters a new environment;

[0106] An analysis module 1130 is configured to determine a mode switching instruction based on the current mode information and the environmental information, as well as a predetermined correspondence between the environmental information and the robot mode;

[0107] The control module 1140 is used to control the main body to move along the axial direction of the linear leg module and / or control the linear leg module to flip according to the mode switching instruction to complete the switching of the robot mode, and control the multimodal mobile robot to operate in the new environment based on the switched robot mode.

[0108] Optionally, the correspondence between the preset environmental information and the robot mode includes: if the environmental information is a wide road on flat terrain with an intermediate obstacle, the corresponding robot mode is a two-wheel state; if the environmental information is a wide road on flat terrain with no intermediate obstacle, the corresponding robot mode is a four-wheel state or a three-wheel state; if the environmental information is a narrow road on flat terrain, the corresponding robot mode is a two-wheel state or a foot-type state; if the environmental information is a turn or a U-turn on flat terrain, the corresponding robot mode is one of the two-wheel state, the three-wheel state, and the four-wheel state; if the environmental information is stationary on flat ground on flat terrain, the corresponding robot mode is one of the foot-type state, the four-wheel state, and the three-wheel state; if the environmental information is a rugged terrain, the corresponding robot mode is a foot-type state.

[0109] Optionally, the analysis module 1130 can be used to: if the current modal information is a footed state, and the environmental information is a wide road with flat terrain and an intermediate obstacle, then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to switch from the footed state to the two-wheel state; or if the current modal information is a footed state, and the environmental information is a wide road with flat terrain and no intermediate obstacle, then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to switch from the footed state to the two-wheel state. The mode switching instruction is to switch from the footed state to the four-wheel state, or the mode switching instruction generated is to switch from the footed state to the four-wheel state and then switch from the four-wheel state to the three-wheel state; or if the current mode information is the footed state and the environmental information is a narrow road on flat terrain, then according to the corresponding relationship between the current mode information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to switch from the footed state to the four-wheel state and then switch from the four-wheel state to the two-wheel state, or the mode switching instruction generated is to maintain the footed state; or if the current mode information is the footed state , the environmental information is a turn or a U-turn under flat terrain, then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode, the generated mode switching instruction is to switch from the footed state to the four-wheel state and then from the four-wheel state to the two-wheel state, or the generated mode switching instruction is to switch from the footed state to the four-wheel state and then from the four-wheel state to the three-wheel state, or the generated mode switching instruction is to switch from the footed state to the four-wheel state; or if the current modal information is the footed state and the environmental information is stationary on flat ground under flat terrain, then according to the current modal information, the generated mode switching instruction is to switch from the footed state to the four-wheel state and then from the four-wheel state to the three-wheel state. According to the correspondence between the previous modal information, the environmental information, the preset environmental information and the robot modality, the modal switching instruction generated is to maintain the footed state, or the modal switching instruction generated is to switch from the footed state to the four-wheel state and then from the four-wheel state to the three-wheel state, or the modal switching instruction generated is to switch from the footed state to the four-wheel state; or if the current modal information is the footed state and the environmental information is rugged terrain, then according to the correspondence between the current modal information, the environmental information, the preset environmental information and the robot modality, the modal switching instruction generated is to maintain the footed state.

[0110] Optionally, the analysis module 1130 may be configured to: if the current modal information is a four-wheel state and the environmental information is a wide road on flat terrain with an intermediate obstacle, then, based on the corresponding relationship between the current modal information, the environmental information, the preset environmental information, and the robot modality, generate the modal switching instruction for switching from the four-wheel state to the two-wheel state; or if the current modal information is a four-wheel state and the environmental information is a wide road on flat terrain with no intermediate obstacle, then, based on the corresponding relationship between the current modal information, the environmental information, the preset environmental information, and the robot modality, generate the modal switching instruction for maintaining the four-wheel state or for switching from the four-wheel state to the three-wheel state; or if the current modal information is a four-wheel state and the environmental information is a narrow road on flat terrain, then, based on the corresponding relationship between the current modal information, the environmental information, the preset environmental information, and the robot modality, generate the modal switching instruction for switching from the four-wheel state to the two-wheel state or for switching from the four-wheel state to the footed state; or If the current modal information is a four-wheel state and the environmental information is a turn or a U-turn on flat terrain, then, based on the corresponding relationship between the current modal information, the environmental information, the preset environmental information, and the robot modality, the mode switching instruction generated is to switch from the four-wheel state to the two-wheel state, or the mode switching instruction generated is to switch from the four-wheel state to the three-wheel state, or the mode switching instruction generated is to maintain the four-wheel state. Alternatively, if the current modal information is a four-wheel state and the environmental information is stationary on flat ground on flat terrain, then, based on the corresponding relationship between the current modal information, the environmental information, the preset environmental information, and the robot modality, the mode switching instruction generated is to switch from the four-wheel state to the footed state, or the mode switching instruction generated is to switch from the four-wheel state to the three-wheel state, or the mode switching instruction generated is to maintain the four-wheel state. Alternatively, if the current modal information is a four-wheel state and the environmental information is rugged terrain, then, based on the corresponding relationship between the current modal information, the environmental information, the preset environmental information, and the robot modality, the mode switching instruction generated is to switch from the four-wheel state to the footed state.

[0111] Optionally, the analysis module 1130 can be used to: if the current modal information is a three-wheel state, and the environmental information is a wide road with flat terrain and an intermediate obstacle, then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode, the generated mode switching instruction is to switch from the three-wheel state to the two-wheel state; or if the current modal information is a three-wheel state, and the environmental information is a wide road with flat terrain and no intermediate obstacle, then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode, the generated mode switching instruction is to switch from the three-wheel state to the two-wheel state. The mode switching instruction generated is to maintain the three-wheel state, or the mode switching instruction generated is to switch from the three-wheel state to the four-wheel state; or if the current mode information is the three-wheel state and the environmental information is a narrow road on flat terrain, then according to the corresponding relationship between the current mode information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to switch from the three-wheel state to the two-wheel state, or the mode switching instruction generated is to switch from the three-wheel state to the four-wheel state and then switch from the four-wheel state to the foot state; or if the current mode information is the three-wheel state , the environmental information is a turn or a U-turn under flat terrain, then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode, the generated mode switching instruction is to switch from the three-wheel state to the two-wheel state, or the generated mode switching instruction is to maintain the three-wheel state, or the generated mode switching instruction is to switch from the three-wheel state to the four-wheel state; or if the current modal information is the three-wheel state and the environmental information is stationary on flat ground under flat terrain, then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode , the mode switching instruction generated is to switch from the three-wheel state to the four-wheel state and then switch from the four-wheel state to the footed state, or the mode switching instruction generated is to maintain the three-wheel state, or the mode switching instruction generated is to switch from the three-wheel state to the four-wheel state; or if the current mode information is the three-wheel state and the environmental information is rugged terrain, then according to the correspondence between the current mode information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to switch from the three-wheel state to the four-wheel state and then switch from the four-wheel state to the footed state.

[0112] Optionally, the analysis module 1130 can be used to: if the current modal information is a two-wheel state, and the environmental information is a wide road with flat terrain and an intermediate obstacle, then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to maintain the two-wheel state; or if the current modal information is a two-wheel state, and the environmental information is a wide road with flat terrain and no intermediate obstacle, then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to maintain the two-wheel state. The mode switching instruction is to switch from the two-wheel state to the three-wheel state, or the mode switching instruction is to switch from the two-wheel state to the four-wheel state; or if the current mode information is the two-wheel state and the environmental information is a narrow road on flat terrain, then according to the corresponding relationship between the current mode information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction is to maintain the two-wheel state, or the mode switching instruction is to switch from the two-wheel state to the four-wheel state and then switch from the four-wheel state to the foot state; or if the current mode information is the two-wheel state and the environmental information is a narrow road on flat terrain, then according to the corresponding relationship between the current mode information, the environmental information and the preset environmental information and the robot mode, the mode switching instruction is to maintain the two-wheel state, or the mode switching instruction is to switch from the two-wheel state to the four-wheel state and then switch from the four-wheel state to the foot state; If the current modal information is a turning or U-turn on flat terrain, then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode, the generated mode switching instruction is to maintain the two-wheel state, or the generated mode switching instruction is to maintain the two-wheel state and switch to the three-wheel state, or the generated mode switching instruction is to switch the two-wheel state to the four-wheel state; or if the current modal information is the two-wheel state and the environmental information is stationary on flat ground on flat terrain, then according to the corresponding relationship between the current modal information, the environmental information, the preset environmental information and the robot mode , the mode switching instruction generated is to switch from the two-wheel state to the four-wheel state and then switch from the four-wheel state to the footed state, or the mode switching instruction generated is to switch from the two-wheel state to the three-wheel state, or the mode switching instruction generated is to switch from the two-wheel state to the four-wheel state; or if the current mode information is the two-wheel state and the environmental information is rugged terrain, then according to the correspondence between the current mode information, the environmental information, the preset environmental information and the robot mode, the mode switching instruction generated is to switch from the two-wheel state to the four-wheel state and then switch from the four-wheel state to the footed state.

[0113] Optionally, the ankle joint module includes a sole, the main body includes an intermediate passive wheel, and according to the mode switching instruction, the main body is controlled to move along the axial direction of the straight leg module, and / or the straight leg module is controlled to flip to complete the switching of the robot mode, including: according to the mode switching instruction, the main body is controlled to move along the axial direction of the straight leg module, and / or the straight leg module is controlled to flip to adjust the contact state of at least one of the active wheel module, the passive wheel module, the intermediate passive wheel and the sole with the ground, so that the mode of the robot is transformed into a wheeled state or a footed state.

[0114] Optionally, the ankle joint module also includes a pitch rotation module and a yaw rotation module, and the main body also includes a control system, a hip yaw rotation module, a hip pitch rotation module and an intermediate passive wheel retraction module; wherein, the active wheel module and the passive wheel module are respectively installed at both ends of the straight leg module, and the ankle joint module is installed at the end where the passive wheel module is located; the pitch rotation module is fixedly connected to one end of the straight leg module, the yaw rotation module can rotate around the axis of the pitch rotation module, and the sole of the foot can rotate around the axis of the yaw rotation module; the main body is symmetrical along the central axis, the hip yaw rotation module is fixed on the frame where the control system is located, the hip pitch rotation module can rotate around the axis of the hip yaw rotation module, the output end of the hip pitch rotation module is connected to the straight leg module, the main body can move up and down along the axis direction of the straight leg module, the intermediate passive wheel retraction module can swing along the frame where the control system is located, and the intermediate passive wheel is connected to the end of the intermediate passive wheel retraction module.

[0115] Optionally, if the mode switching instruction is to switch from the footed state to the four-wheel state, the control module 1140 can be used for: if the current mode is in the footed state, the sole of the ankle joint module on the multimodal mobile robot is in contact with the ground; after receiving the mode switching instruction to switch from the footed state to the four-wheel state, controlling the pitch rotation module to drive the straight leg module to rotate around the axis of the pitch rotation module until the active wheel module and the passive wheel module are in contact with the ground, and controlling the sole of the ankle joint module to turn to the direction of leaving the ground to achieve the mode switching from the footed state to the four-wheel state.

[0116] Optionally, if the mode switching instruction is to switch from the four-wheel state to the footed state, the control module 1140 can be used for: if the current mode is in the four-wheel state, the active wheel module and the passive wheel module on the multimodal mobile robot are both in the grounded state; after receiving the mode switching instruction to switch from the four-wheel state to the footed state, control the sole of the ankle joint module to turn toward the ground and contact the ground, and control the pitch rotation module to drive the straight leg module to rotate around the axis of the pitch rotation module until the active wheel module and the passive wheel module are away from the ground, so as to realize the mode switching from the four-wheel state to the footed state.

[0117] Optionally, if the mode switching instruction is to switch from a three-wheel state to a four-wheel state, the control module 1140 can be used for: if the current mode is in a three-wheel state, the active wheel module and the intermediate passive wheel on the multimodal mobile robot are both in a grounded state; upon receiving a mode switching instruction to switch from a three-wheel state to a four-wheel state, controlling the intermediate passive wheel retraction module to retract the intermediate passive wheel, and controlling the straight-line leg module to rotate around the axis of the hip pitch rotation module, so that the straight-line leg module tilts until the passive wheel module contacts the ground, thereby realizing the mode switching from the three-wheel state to the four-wheel state.

[0118] Optionally, if the mode switching instruction is to switch from a four-wheel state to a three-wheel state, the control module 1140 can be used for: if the current mode is in a four-wheel state, the active wheel module and the passive wheel module on the multimodal mobile robot are both in a grounded state; upon receiving a mode switching instruction to switch from a four-wheel state to a three-wheel state, controlling the straight-line leg module to rotate around the axis of the hip pitch rotation module so that the straight-line leg module tilts until the passive wheel module is away from the ground, and controlling the intermediate passive wheel retraction module to extend the intermediate passive wheel until it contacts the ground, so as to realize the mode switching from the four-wheel state to the three-wheel state.

[0119] Optionally, if the mode switching instruction is to switch from a two-wheel state to a four-wheel state, the control module 1140 can be used for: if the current mode is in a two-wheel state, the active wheel module on the multimodal mobile robot is in a grounded state, and the middle passive wheel is away from the ground; when receiving a mode switching instruction to switch from a two-wheel state to a four-wheel state, controlling the linear leg module to rotate around the axis of the hip pitch rotation module, so that the linear leg module tilts until the passive wheel module contacts the ground, thereby realizing the mode switching from the two-wheel state to the four-wheel state.

[0120] Optionally, if the mode switching instruction is to switch from the four-wheel state to the two-wheel state, the control module 1140 can be used for: if the current mode is in the four-wheel state, the active wheel module and the passive wheel module on the multimodal mobile robot are both in a grounded state; when receiving the mode switching instruction to switch from the four-wheel state to the two-wheel state, the linear leg module is controlled to rotate around the axis of the hip pitch rotation module, so that the linear leg module tilts until the passive wheel module is away from the ground, so as to realize the mode switching from the four-wheel state to the two-wheel state.

[0121] Optionally, if the mode switching instruction is to switch from a two-wheel state to a three-wheel state, the control module 1140 can be used for: if the current mode is in a two-wheel state, the active wheel module on the multimodal mobile robot is in a grounded state, and the intermediate passive wheel is away from the ground; when receiving a mode switching instruction to switch from a two-wheel state to a three-wheel state, the main body is controlled to move downward along the straight leg module until the intermediate passive wheel contacts the ground to realize the mode switching from the two-wheel state to the three-wheel state.

[0122] Optionally, if the mode switching instruction is to switch from a three-wheel state to a two-wheel state, the control module 1140 can be used for: if the current mode is in a three-wheel state, the active wheel module and the intermediate passive wheel on the multimodal mobile robot are both in a grounded state; when receiving a mode switching instruction for switching from a three-wheel state to a two-wheel state, the main body is controlled to move upward along the axis direction of the straight leg module until the intermediate passive wheel is away from the ground, so as to realize the mode switching from the three-wheel state to the two-wheel state.

[0123] For example, the present application also provides another multi-modal mobile robot control system. Figure 12 , Figure 12 This is another schematic diagram of the structure of a multimodal mobile robot control system provided in an embodiment of the present application. The multimodal mobile robot control system 1200 may include an environment perception module 1210, a central control data processing module 1220, and an execution module 1230. The environment perception module 1210, the central control data processing module 1220, and the execution module 1230 may be electrically connected via a communication bus.

[0124] Among them, the environmental perception module 1210 may include a front-end sensor 1211 and a front-end data processing device 1212; the central control data processing module 1220 may include a data receiving module 1221, a robot state acquisition module 1222, a scene data analysis module 1223 and a mode switching control module 1224, etc.; the execution module 1230 may include a robot joint data transmission module 1231.

[0125] For example, the process of the multimodal mobile robot control system 1200 identifying environmental information and outputting a mode switching instruction can be as follows: after obtaining environmental information corresponding to the surrounding environment through the front-end sensor 1211 (visual sensor, laser sensor, acoustic sensor, etc.) in the environmental perception module 1210 at the front end of the robot, the obtained environmental information is preliminarily processed and simplified by the front-end data processing device 1212, and the environmental information is input into the central control data processing module 1220; then, the environmental information from the front-end environmental perception module 1210 is received by the data receiving module 1221 in the central control data processing module 1220. Information, and the current robot's own posture and corresponding modal conditions are obtained through the robot state acquisition module 1222; then the environmental information is identified through the scene data analysis module 1223, and the posture information of the robot itself is integrated to comprehensively output the posture change instructions of the robot; then the modal switching control module 1224 converts the above-mentioned posture change instructions into execution commands of each execution module 1230, and finally the robot joint data transmission module 1231 in the execution module 1230 obtains the data information of each joint of the robot, and then controls each joint of the robot to perform corresponding actions to complete the modal switching of the robot.

[0126] Each module or unit in the multimodal mobile robot control system can be implemented in whole or in part through software, hardware, or a combination thereof. Each module or unit can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module or unit. In the embodiment of the present application, the computer device can be a multimodal mobile robot.

[0127] The multimodal mobile robot control system 1100 or the multimodal mobile robot control system 1200 may be integrated into a multimodal mobile robot having a storage device and a processor installed therein to provide computing capabilities.

[0128] Optionally, the present application also provides a multimodal mobile robot, comprising a driving wheel module, a linear leg module, a passive wheel module, an ankle joint module and a main body, wherein the ankle joint module comprises a pitch rotation module, a yaw rotation module and a sole, and the main body comprises the multimodal mobile robot control system, hip yaw rotation module, hip pitch rotation module, intermediate passive wheel and intermediate passive wheel retraction module as described in any of the above embodiments, and control of at least one of the driving wheel module, linear leg module, passive wheel module, ankle joint module and main body is achieved by the multimodal mobile robot control method as described in any of the above embodiments.

[0129] Optionally, the present application also provides a multimodal mobile robot, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0130] This application also provides a computer-readable storage medium for storing a computer program. This computer-readable storage medium can be applied to a multimodal mobile robot, and the computer program causes the multimodal mobile robot to execute the corresponding processes in the multimodal mobile robot control method in the embodiments of this application. For the sake of brevity, these processes are not further described here.

[0131] This application also provides a computer program product comprising computer instructions stored in a computer-readable storage medium. A processor of the multimodal mobile robot reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the multimodal mobile robot to execute the corresponding processes of the multimodal mobile robot control method in the embodiments of this application. For the sake of brevity, these processes are not further described here.

[0132] This application also provides a computer program comprising computer instructions stored in a computer-readable storage medium. A processor of the multimodal mobile robot reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the multimodal mobile robot to execute the corresponding processes of the multimodal mobile robot control method in the embodiments of this application. For the sake of brevity, these processes are not further described here.

[0133] It should be understood that the processor of the embodiments of the present application may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method embodiment can be completed by hardware integrated logic circuits in the processor or software instructions. The above processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The various methods, steps, and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of the present application can be directly implemented as a hardware decoding processor, or can be implemented by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0134] It is understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0135] It should be understood that the above-mentioned memories are exemplary but not restrictive. For example, the memories in the embodiments of the present application may also be static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM RAM (DR RAM), etc. In other words, the memories in the embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.

[0136] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0137] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0138] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple modules, units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0139] The modules or units described as separate components may or may not be physically separate, and the components shown as modules or units may or may not be physical modules or units, that is, they may be located in one place or distributed across multiple network elements. Some or all of the modules (units) may be selected to achieve the purpose of the solution of this embodiment according to actual needs.

[0140] In addition, each functional module or functional unit in the embodiment of the present application may be integrated into a processing module or processing unit, or each unit may exist physically separately, or two or more units may be integrated into one module or unit.

[0141] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a multimodal mobile robot to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0142] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A multimodal mobile robot control method, applied to a multimodal mobile robot, characterized in that: The multimodal mobile robot includes an active wheel module, a linear leg module, a passive wheel module, an ankle joint module and a main body, and the method includes: Obtain the current modal information of the multimodal mobile robot; When detecting that the multimodal mobile robot enters a new environment, obtaining environmental information corresponding to the surrounding environment of the multimodal mobile robot; Determining a mode switching instruction based on the current mode information and the environmental information, as well as a preset correspondence between the environmental information and the robot mode; According to the mode switching instruction, the main body is controlled to move along the axis direction of the linear leg module, and / or the linear leg module is controlled to flip, so as to complete the switching of the robot mode, and the multimodal mobile robot is controlled to operate in the new environment based on the switched robot mode; The correspondence between the preset environmental information and the robot mode includes: If the environment information is a wide road with flat terrain and an intermediate obstacle, the corresponding robot mode is the two-wheel state; If the environment information is a wide road with flat terrain and no intermediate obstacles, the corresponding robot mode is the four-wheel state or the three-wheel state; If the environment information is a narrow road on flat terrain, the corresponding robot mode is the two-wheel state or the foot state; If the environment information is a turn or U-turn on flat terrain, the corresponding robot mode is one of the two-wheel state, three-wheel state, and four-wheel state; If the environment information is a flat ground stationary state under flat terrain, the corresponding robot mode is one of the states of foot-type state, four-wheel state, and three-wheel state; If the environment information is rough terrain, the corresponding robot mode is the foot state.

2. The multimodal mobile robot control method according to claim 1, wherein: The determining of the mode switching instruction according to the current mode information and the environment information, as well as the correspondence between the preset environment information and the robot mode, includes: If the current modal information is the footed state and the environmental information is a wide road on flat terrain with an intermediate obstacle, then based on the correspondence between the current modal information, the environmental information, the preset environmental information, and the robot mode, the generated mode switching instruction is to switch from the footed state to the two-wheel state; or If the current modal information is a footed state and the environmental information is a wide road with flat terrain and no intermediate obstacles, then based on the correspondence between the current modal information, the environmental information, the preset environmental information, and the robot mode, the generated modal switching instruction is to switch from the footed state to the four-wheel state, or the generated modal switching instruction is to switch from the footed state to the four-wheel state and then from the four-wheel state to the three-wheel state; or If the current modal information is a footed state and the environmental information is a narrow road on flat terrain, then based on the correspondence between the current modal information, the environmental information, the preset environmental information, and the robot mode, the generated modal switching instruction is to switch from the footed state to the four-wheel state and then from the four-wheel state to the two-wheel state, or the generated modal switching instruction is to maintain the footed state; or If the current modal information is a footed state, and the environmental information is a turn or a U-turn on flat terrain, then according to the correspondence between the current modal information, the environmental information, the preset environmental information, and the robot mode, the generated modal switching instruction is to switch from the footed state to the four-wheel state and then from the four-wheel state to the two-wheel state, or the generated modal switching instruction is to switch from the footed state to the four-wheel state and then from the four-wheel state to the three-wheel state, or the generated modal switching instruction is to switch from the footed state to the four-wheel state; or If the current modal information is a footed state and the environmental information is a stationary state on flat terrain, then based on the correspondence between the current modal information, the environmental information, the preset environmental information, and the robot mode, the generated modal switching instruction is to maintain the footed state, or the generated modal switching instruction is to switch from the footed state to the four-wheel state and then from the four-wheel state to the three-wheel state, or the generated modal switching instruction is to switch from the footed state to the four-wheel state; or If the current modal information is the footed state and the environmental information is rough terrain, the mode switching instruction generated according to the correspondence between the current modal information, the environmental information, the preset environmental information and the robot mode is to maintain the footed state.

3. The multimodal mobile robot control method according to claim 1, wherein: The determining of the mode switching instruction according to the current mode information and the environment information, as well as the correspondence between the preset environment information and the robot mode, includes: If the current modal information is a four-wheel state and the environmental information is a wide road on flat terrain with an intermediate obstacle, then based on the correspondence between the current modal information, the environmental information, the preset environmental information, and the robot mode, the generated modal switching instruction is to switch from the four-wheel state to the two-wheel state; or If the current modal information is a four-wheel state and the environmental information is a wide road with flat terrain and no intermediate obstacles, then based on the correspondence between the current modal information, the environmental information, the preset environmental information and the robot mode, the generated modal switching instruction is to maintain the four-wheel state, or the generated modal switching instruction is to switch from the four-wheel state to the three-wheel state; or If the current modal information is a four-wheel state and the environmental information is a narrow road on flat terrain, then based on the correspondence between the current modal information, the environmental information, the preset environmental information, and the robot mode, the generated modal switching instruction is to switch from the four-wheel state to the two-wheel state, or the generated modal switching instruction is to switch from the four-wheel state to the foot-operated state; or If the current modal information is a four-wheel state and the environmental information is a turn or a U-turn on flat terrain, then based on the correspondence between the current modal information, the environmental information, the preset environmental information and the robot mode, the generated modal switching instruction is to switch from the four-wheel state to the two-wheel state, or the generated modal switching instruction is to switch from the four-wheel state to the three-wheel state, or the generated modal switching instruction is to maintain the four-wheel state; or If the current modal information is a four-wheel state and the environmental information is a stationary state on flat terrain, then based on the correspondence between the current modal information, the environmental information, the preset environmental information, and the robot mode, the generated modal switching instruction is to switch from the four-wheel state to the footed state, or the generated modal switching instruction is to switch from the four-wheel state to the three-wheel state, or the generated modal switching instruction is to maintain the four-wheel state; or If the current modal information is a four-wheel state and the environmental information is a rough terrain, the mode switching instruction generated according to the correspondence between the current modal information, the environmental information, the preset environmental information and the robot mode is to switch from the four-wheel state to the foot-type state.

4. The multimodal mobile robot control method according to claim 1, wherein: The determining of the mode switching instruction according to the current mode information and the environment information, as well as the correspondence between the preset environment information and the robot mode, includes: If the current modal information is a three-wheel state and the environmental information is a wide road on flat terrain with an intermediate obstacle, then the mode switching instruction generated based on the correspondence between the current modal information, the environmental information, the preset environmental information and the robot mode is to switch from the three-wheel state to the two-wheel state; or If the current modal information is a three-wheel state and the environmental information is a wide road with flat terrain and no intermediate obstacles, then based on the correspondence between the current modal information, the environmental information, the preset environmental information and the robot mode, the generated modal switching instruction is to maintain the three-wheel state, or the generated modal switching instruction is to switch from the three-wheel state to the four-wheel state; or If the current modal information is a three-wheel state and the environmental information is a narrow road on flat terrain, then based on the correspondence between the current modal information, the environmental information, the preset environmental information, and the robot mode, the generated modal switching instruction is to switch from the three-wheel state to the two-wheel state, or the generated modal switching instruction is to switch from the three-wheel state to the four-wheel state and then from the four-wheel state to the foot-type state; or If the current modal information is a three-wheel state and the environmental information is a turn or a U-turn on flat terrain, then based on the correspondence between the current modal information, the environmental information, the preset environmental information and the robot mode, the generated modal switching instruction is to switch from the three-wheel state to the two-wheel state, or the generated modal switching instruction is to maintain the three-wheel state, or the generated modal switching instruction is to switch from the three-wheel state to the four-wheel state; or If the current modal information is a three-wheel state and the environmental information is a stationary state on flat terrain, then based on the correspondence between the current modal information, the environmental information, the preset environmental information, and the robot mode, the generated modal switching instruction is to switch from the three-wheel state to the four-wheel state and then from the four-wheel state to the footed state, or the generated modal switching instruction is to maintain the three-wheel state, or the generated modal switching instruction is to switch from the three-wheel state to the four-wheel state; or If the current modal information is a three-wheel state and the environmental information is a rough terrain, then according to the correspondence between the current modal information, the environmental information, the preset environmental information and the robot mode, the generated modal switching instruction is to switch from the three-wheel state to the four-wheel state, and then from the four-wheel state to the foot-type state.

5. The multimodal mobile robot control method according to claim 1, wherein: The determining of the mode switching instruction according to the current mode information and the environment information, as well as the correspondence between the preset environment information and the robot mode, includes: If the current modal information is a two-wheel state and the environmental information is a wide road on flat terrain with an intermediate obstacle, then based on the correspondence between the current modal information, the environmental information, the preset environmental information, and the robot mode, the generated modal switching instruction is to maintain the two-wheel state; or If the current modal information is a two-wheel state and the environmental information is a wide road with flat terrain and no intermediate obstacles, then based on the correspondence between the current modal information, the environmental information, the preset environmental information and the robot mode, the generated modal switching instruction is to switch from the two-wheel state to the three-wheel state, or the generated modal switching instruction is to switch from the two-wheel state to the four-wheel state; or If the current modal information is a two-wheel state and the environmental information is a narrow road on flat terrain, then based on the correspondence between the current modal information, the environmental information, the preset environmental information, and the robot mode, the generated modal switching instruction is to maintain the two-wheel state, or the generated modal switching instruction is to switch from the two-wheel state to the four-wheel state and then from the four-wheel state to the foot-type state; or If the current modal information is a two-wheel state and the environmental information is a turn or a U-turn on flat terrain, then based on the correspondence between the current modal information, the environmental information, the preset environmental information and the robot mode, the generated modal switching instruction is to maintain the two-wheel state, or the generated modal switching instruction is to switch from maintaining the two-wheel state to the three-wheel state, or the generated modal switching instruction is to switch from the two-wheel state to the four-wheel state; or If the current modal information is a two-wheel state and the environmental information is a stationary state on flat terrain, then based on the correspondence between the current modal information, the environmental information, the preset environmental information, and the robot mode, the generated modal switching instruction is to switch from the two-wheel state to the four-wheel state and then from the four-wheel state to the footed state, or the generated modal switching instruction is to switch from the two-wheel state to the three-wheel state, or the generated modal switching instruction is to switch from the two-wheel state to the four-wheel state; or If the current modal information is a two-wheel state and the environmental information is a rough terrain, then according to the correspondence between the current modal information, the environmental information, the preset environmental information and the robot mode, the generated mode switching instruction is to switch from the two-wheel state to the four-wheel state, and then from the four-wheel state to the foot-type state.

6. The multimodal mobile robot control method according to any one of claims 1 to 5, characterized in that: The ankle joint module includes a sole, the main body includes an intermediate passive wheel, and according to the mode switching instruction, the main body is controlled to move along the axis direction of the linear leg module and / or the linear leg module is controlled to flip to complete the switching of the robot mode, including: According to the mode switching instruction, the main body is controlled to move along the axial direction of the linear leg module, and / or the linear leg module is controlled to flip, so as to adjust the contact state of at least one of the active wheel module, the passive wheel module, the intermediate passive wheel and the sole with the ground, so that the mode of the robot is changed to a wheeled state or a footed state.

7. The multimodal mobile robot control method according to claim 6, wherein: The ankle joint module further includes a pitch rotation module and a yaw rotation module, and the main body further includes a control system, a hip yaw rotation module, a hip pitch rotation module and an intermediate passive wheel retraction module; Wherein, the driving wheel module and the passive wheel module are respectively installed at both ends of the linear leg module, and the ankle joint module is installed at the end where the passive wheel module is located; The pitch rotation module is fixedly connected to one end of the linear leg module, the yaw rotation module can rotate around the axis of the pitch rotation module, and the sole of the foot can rotate around the axis of the yaw rotation module; The main body is symmetrical along the central axis, the hip deflection and rotation module is fixed on the frame where the control system is located, the hip pitch rotation module can rotate around the axis of the hip deflection and rotation module, the output end of the hip pitch rotation module is connected to the straight leg module, the main body can move up and down along the axis direction of the straight leg module, the intermediate passive wheel retraction module can swing along the frame where the control system is located, and the intermediate passive wheel is connected to the end of the intermediate passive wheel retraction module.

8. The multimodal mobile robot control method according to claim 7, wherein: If the mode switching instruction is to switch from the footed state to the four-wheeled state, then according to the mode switching instruction, the main body is controlled to move along the axis direction of the linear leg module, and / or the linear leg module is controlled to flip to complete the switching of the robot mode, including: If the current mode is in the foot state, the sole of the ankle joint module on the multimodal mobile robot is in contact with the ground; After receiving the mode switching instruction to switch from the footed state to the four-wheel state, the pitch rotation module is controlled to drive the straight leg module to rotate around the axis of the pitch rotation module until the active wheel module and the passive wheel module are in contact with the ground, and the sole of the ankle joint module is controlled to turn in the direction of leaving the ground to realize the mode switching from the footed state to the four-wheel state.

9. The multimodal mobile robot control method according to claim 7, wherein: If the mode switching instruction is to switch from the four-wheel state to the foot state, then according to the mode switching instruction, the main body is controlled to move along the axis direction of the linear leg module and / or the linear leg module is controlled to flip to complete the switching of the robot mode, including: If the current mode is in the four-wheel state, the driving wheel module and the passive wheel module on the multimodal mobile robot are both in a grounded state; After receiving the mode switching instruction to switch from the four-wheel state to the foot-type state, the sole of the ankle joint module is controlled to turn toward the ground and contact the ground, and the pitch rotation module is controlled to drive the straight leg module to rotate around the axis of the pitch rotation module until the active wheel module and the passive wheel module are both away from the ground, so as to realize the mode switching from the four-wheel state to the foot-type state.

10. The multimodal mobile robot control method according to claim 7, wherein: If the mode switching instruction is to switch from the three-wheel state to the four-wheel state, then according to the mode switching instruction, the main body is controlled to move along the axis direction of the linear leg module, and / or the linear leg module is controlled to flip to complete the switching of the robot mode, including: If the current mode is in the three-wheel state, the driving wheel module and the intermediate passive wheel on the multimodal mobile robot are both in a grounded state; When receiving the mode switching instruction to switch from the three-wheel state to the four-wheel state, the intermediate passive wheel retraction module is controlled to retract the intermediate passive wheel, and the straight leg module is controlled to rotate around the axis of the hip pitch rotation module, so that the straight leg module tilts until the passive wheel module contacts the ground, thereby realizing the mode switching from the three-wheel state to the four-wheel state.

11. The multimodal mobile robot control method according to claim 7, wherein: If the mode switching instruction is to switch from the four-wheel state to the three-wheel state, then according to the mode switching instruction, the main body is controlled to move along the axis direction of the linear leg module, and / or the linear leg module is controlled to flip to complete the switching of the robot mode, including: If the current mode is in the four-wheel state, the driving wheel module and the passive wheel module on the multimodal mobile robot are both in a grounded state; When receiving a mode switching instruction to switch from a four-wheel state to a three-wheel state, the linear leg module is controlled to rotate around the axis of the hip pitch rotation module, so that the linear leg module tilts until the passive wheel module is away from the ground, and the intermediate passive wheel retraction module is controlled to extend the intermediate passive wheel until it contacts the ground, so as to realize the mode switching from the four-wheel state to the three-wheel state.

12. The multimodal mobile robot control method according to claim 7, wherein: If the mode switching instruction is to switch from a two-wheel state to a four-wheel state, then according to the mode switching instruction, the main body is controlled to move along the axis direction of the linear leg module, and / or the linear leg module is controlled to flip to complete the switching of the robot mode, including: If the current mode is in the dual-wheel state, the driving wheel module on the multimodal mobile robot is in a grounded state, and the middle passive wheel is away from the ground; When receiving a mode switching instruction to switch from a two-wheel state to a four-wheel state, the linear leg module is controlled to rotate around the axis of the hip pitch rotation module, so that the linear leg module tilts until the passive wheel module contacts the ground, thereby realizing the mode switching from the two-wheel state to the four-wheel state.

13. The multimodal mobile robot control method according to claim 7, wherein: If the mode switching instruction is to switch from the four-wheel state to the two-wheel state, then according to the mode switching instruction, the main body is controlled to move along the axis direction of the linear leg module, and / or the linear leg module is controlled to flip to complete the switching of the robot mode, including: If the current mode is in the four-wheel state, the driving wheel module and the passive wheel module on the multimodal mobile robot are both in a grounded state; When receiving a mode switching instruction to switch from a four-wheel state to a two-wheel state, the linear leg module is controlled to rotate around the axis of the hip pitch rotation module, so that the linear leg module tilts until the passive wheel module is away from the ground, thereby realizing the mode switching from the four-wheel state to the two-wheel state.

14. The multimodal mobile robot control method according to claim 7, wherein: If the mode switching instruction is to switch from the two-wheel state to the three-wheel state, then according to the mode switching instruction, the main body is controlled to move along the axis direction of the linear leg module, and / or the linear leg module is controlled to flip to complete the switching of the robot mode, including: If the current mode is in the dual-wheel state, the driving wheel module on the multimodal mobile robot is in a grounded state, and the middle passive wheel is away from the ground; When receiving a mode switching instruction to switch from the two-wheel state to the three-wheel state, the main body is controlled to move downward along the axis direction of the linear leg module until the middle passive wheel contacts the ground to realize the mode switching from the two-wheel state to the three-wheel state.

15. The multimodal mobile robot control method according to claim 7, wherein: If the mode switching instruction is to switch from the three-wheel state to the two-wheel state, then according to the mode switching instruction, the main body is controlled to move along the axis direction of the linear leg module, and / or the linear leg module is controlled to flip to complete the switching of the robot mode, including: If the current mode is in the three-wheel state, the driving wheel module and the intermediate passive wheel on the multimodal mobile robot are both in a grounded state; When receiving the mode switching instruction for switching from the three-wheel state to the two-wheel state, the main body is controlled to move upward along the axial direction of the straight leg module until the middle passive wheel is away from the ground to realize the mode switching from the three-wheel state to the two-wheel state.

16. A multimodal mobile robot control system, characterized in that: Applied to a multimodal mobile robot, the multimodal mobile robot includes an active wheel module, a linear leg module, a passive wheel module, an ankle joint module and a main body, and the control system includes: A state acquisition module is used to obtain the current modal information of the multimodal mobile robot; An environment perception module, configured to obtain environmental information corresponding to the surrounding environment of the multimodal mobile robot when detecting that the multimodal mobile robot enters a new environment; an analysis module, configured to determine a mode switching instruction based on the current mode information and the environmental information, as well as a correspondence between the preset environmental information and the robot mode; a control module, configured to control the main body to move along the axis of the linear leg module and / or control the linear leg module to flip according to the mode switching instruction, so as to complete the switching of the robot mode, and control the multimodal mobile robot to operate in the new environment based on the switched robot mode; The correspondence between the preset environmental information and the robot mode includes: If the environment information is a wide road with flat terrain and an intermediate obstacle, the corresponding robot mode is the two-wheel state; If the environment information is a wide road with flat terrain and no intermediate obstacles, the corresponding robot mode is the four-wheel state or the three-wheel state; If the environment information is a narrow road on flat terrain, the corresponding robot mode is the two-wheel state or the foot state; If the environment information is a turn or U-turn on flat terrain, the corresponding robot mode is one of the two-wheel state, three-wheel state, and four-wheel state; If the environment information is a flat ground stationary state under flat terrain, the corresponding robot mode is one of the states of foot-type state, four-wheel state, and three-wheel state; If the environment information is rough terrain, the corresponding robot mode is the foot state.

17. A multimodal mobile robot, characterized in that: It includes an active wheel module, a linear leg module, a passive wheel module, an ankle joint module and a main body, the ankle joint module includes a pitch rotation module, a yaw rotation module and a sole, the main body includes the multimodal mobile robot control system as claimed in claim 16, a hip yaw rotation module, a hip pitch rotation module, an intermediate passive wheel and an intermediate passive wheel retraction module, and the control of at least one of the active wheel module, the linear leg module, the passive wheel module, the ankle joint module and the main body is achieved by the multimodal mobile robot control method as described in any one of claims 1-15.

18. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which is suitable for being loaded by a processor to execute the steps in the multimodal mobile robot control method according to any one of claims 1 to 15.

19. A computer program product comprising computer instructions, characterized in that When the computer instructions are executed by the processor, the steps in the multimodal mobile robot control method according to any one of claims 1 to 15 are implemented.

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