Robot and robot control method

Abstract

The present disclosure relates to a robot and a robot control method, which can balance the damping performance of the robot chassis and the stability of the robot body. The robot comprises a robot body, a posture detector installed on the robot body, a chassis body arranged at the bottom of the robot body, a moving assembly connected to the robot body through a suspension damper, a controllable damping rotating shaft connected to the moving assembly, and a controller electrically connected to the posture detector and the controllable damping rotating shaft, for controlling the controllable damping rotating shaft to change the rotating resistance according to the robot posture information detected by the posture detector.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more specifically, to a robot and a robot control method. Background Technology

[0002] With the rapid development of hardware and control technologies, robots are increasingly being used in people's daily work and lives. When robots are in operation, shock absorption and stability are issues that must be considered.

[0003] In related technologies, the vibration of the robot chassis can be reduced by setting up suspension shock absorbers. However, this method cannot simultaneously ensure the shock absorption performance of the robot chassis and the stability of the robot body. Summary of the Invention

[0004] This content section is provided to briefly introduce the concepts, which will be described in detail in the subsequent detailed description section. This content section is not intended to identify key or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.

[0005] In a first aspect, this disclosure provides a robot, comprising:

[0006] The robot body is equipped with an attitude detector.

[0007] A chassis body, wherein the chassis body is disposed at the bottom of the robot body;

[0008] A mobile component is connected to the robot body via a suspension shock absorber. The mobile component is also connected to a controllable damping pivot and is rotatably connected to the chassis body via the controllable damping pivot.

[0009] The controller is electrically connected to the attitude detector and the controllable damping shaft, and is used to control the controllable damping shaft to change the rotational resistance according to the robot attitude information detected by the attitude detector.

[0010] In a second aspect, this disclosure provides a robot control method applied to the robot provided in the first aspect, the method comprising:

[0011] An attitude detector installed on the robot body detects the robot's attitude information and sends the attitude information to the controller;

[0012] The controller processes the attitude information, generates control information, and sends the control information to the controllable damping shaft.

[0013] The controllable damping shaft controls the rotational resistance based on the control information.

[0014] The robot disclosed in this embodiment can provide a force opposite to the swing direction of the robot body by means of a controllable damping shaft and a suspension shock absorber when the robot body swings. Therefore, even if a small suspension stiffness is set, the stability of the robot body can be guaranteed, thus taking into account both the shock absorption performance of the robot chassis and the stability of the robot body. In addition, since the robot's posture is passively stabilized by using rotational resistance, the energy consumption is low.

[0015] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0016] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale. In the drawings:

[0017] Figure 1 This is a schematic diagram of the structure of a robot according to an exemplary embodiment of the present disclosure;

[0018] Figure 2 This is a schematic diagram of the connection structure of a variable damping shaft according to an exemplary embodiment of the present disclosure;

[0019] Figure 3 This is a schematic diagram of another connection structure of a variable damping shaft according to an exemplary embodiment of the present disclosure;

[0020] Figure 4 This is a schematic diagram illustrating the positional relationship between a magnetorheological material and a rotating shaft according to an exemplary embodiment of the present disclosure;

[0021] Figure 5 This is a schematic diagram illustrating the distribution of a mobile component according to an exemplary embodiment of the present disclosure;

[0022] Figure 6 This is a flowchart illustrating a robot control method according to an exemplary embodiment of the present disclosure.

[0023] Explanation of reference numerals in the attached figures:

[0024] 10-Robot body, 20-Chassis body, 30-Moving component, 31-Drive wheel, 32-Balance wheel, 40-Attitude detector, 50-Suspension shock absorber, 60-Controllable damping shaft, 61-DC motor, 62-DC motor output shaft, 63-Shaft, 64-Magnetorheological material, 71-Electrically controlled resistor, 72-Frequency switch, 80-Linkage. Detailed Implementation

[0025] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0026] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0027] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0028] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0029] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0030] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0031] The inventors discovered in their research that in related technologies, the shock absorption performance of a robot chassis is related to the stiffness of the suspension shock absorbers (hereinafter referred to as suspension stiffness). Setting a lower suspension stiffness is generally beneficial to improving the shock absorption performance of the chassis. However, during the robot's acceleration, deceleration, crossing obstacles, or traversing potholes, insufficient suspension stiffness can cause the robot body to sway, reducing the robot's stability. While setting a higher suspension stiffness can improve the stability of the robot body, it sacrifices the shock absorption performance of the chassis. Therefore, the robots in related technologies do not balance the shock absorption performance of the robot chassis with the stability of the robot body.

[0032] Therefore, this disclosure provides a robot and a robot control method. When the robot body swings, a controllable damping shaft and a suspension shock absorber jointly provide a force opposite to the swing direction of the robot body. Therefore, even with a small suspension stiffness, the stability of the robot body can be guaranteed, thus taking into account both the shock absorption performance of the robot chassis and the stability of the robot body.

[0033] Please see Figure 1 , Figure 1 This is a robot illustrated according to an exemplary embodiment of the present disclosure. The robot includes a robot body 10, a chassis body 20, a moving component 30, and a controller.

[0034] The robot body 10 is equipped with an attitude detector 40, the chassis body 20 is located at the bottom of the robot body 10, the moving component 30 is connected to the robot body 10 through a suspension shock absorber 50, the moving component 30 is also connected to a controllable damping shaft 60, and is rotatably connected to the chassis body 20 through the controllable damping shaft 60, and the controller is electrically connected to the attitude detector 40 and the controllable damping shaft 60, and is used to control the controllable damping shaft 60 to change the rotational resistance according to the robot attitude information detected by the attitude detector 40.

[0035] The attitude detector 40 is used to detect the robot's attitude information during operation. In some embodiments, the attitude detector 40 can be an attitude sensor, which can be a sensor based on horizontal position detection, thereby detecting the robot's attitude information through the horizontal position of the robot body 10.

[0036] Among them, attitude information can be represented in multiple ways.

[0037] In some implementations, the attitude information can be simply represented by whether it is tilted and the direction of tilt. In this case, the attitude information can include tilting to the left, tilting to the right, not tilting, etc.

[0038] In other implementations, the attitude information can be represented in a more refined manner. In this case, the attitude information may include the attitude swing amplitude, such as 5 degrees, 15 degrees, -20 degrees, etc.

[0039] It should be noted that whether the attitude swing amplitude is positive or negative indicates the direction of tilt. For example, when the attitude swing amplitude is positive, it means that the robot body 10 is tilted to the left, and when the attitude swing amplitude is negative, it means that the robot body 10 is tilted to the right.

[0040] Among them, the controllable damping shaft 60 can be understood as a shaft whose rotational resistance can be changed.

[0041] The moving component 30 is used to realize the normal movement of the robot during operation, such as moving forward at a constant speed, moving backward at a constant speed, moving forward with acceleration, moving forward with deceleration, moving backward with acceleration, and moving backward with deceleration.

[0042] In this embodiment of the disclosure, such as Figure 1 As shown, the mobile component 30 is connected to the robot body 10 via a suspension shock absorber 50, and the mobile component 30 is rotatably connected to the chassis body 20 via a controllable damping shaft 60. Therefore, when the mobile component 30 is subjected to vibration, the suspension shock absorber 50 can offset the vibration, thereby reducing the vibration of the chassis body 20 and achieving the function of shock absorption. In this case, the controllable damping shaft 60 performs the function of a traditional shaft, that is, it adapts to the rotation that occurs during the vibration of the mobile component 30.

[0043] When the robot body 10 swings, for example Figure 1 When the robot body 10 tilts to the left, it attempts to rotate around the controllable damping shaft 60 on the left side. If this rotation is not restricted, the robot body 10 will swing significantly, potentially causing it to tip over. In this embodiment, the left-side suspension damper 50 can provide a force opposite to the robot body 10's swing direction. However, due to the low suspension stiffness, this limits the robot's swing ability. Therefore, the controller can also change the rotational resistance of the left-side controllable damping shaft 60, causing it to also provide a force opposite to the robot body 10's swing direction. This, combined with the left-side suspension damper 50 and the left-side controllable damping shaft 60, reduces the leftward swing amplitude of the robot body 10, thereby improving its stability.

[0044] Since the controllable damping shaft 60 and the suspension shock absorber 50 can provide a force opposite to the swing direction of the robot body 10 when the robot body 10 swings, the stability of the robot body 10 can be guaranteed even if the suspension stiffness is set to a small value, thus taking into account both the shock absorption performance of the robot chassis and the stability of the robot body 10.

[0045] Furthermore, since the robot's posture is passively stabilized using rotational resistance, energy consumption is low.

[0046] It is understood that in some embodiments, other structures, such as robotic arms, grippers, and sensors with other functions, can be provided on the robot body 10 according to the actual working needs of the robot. The accompanying drawings in this disclosure only provide a simple description of the structure of each part of the robot, but they should not be construed as limiting the structure of each part of the robot.

[0047] In some embodiments, the controllable damping shaft 60 includes a rotational damping control device and a shaft 63, the rotational damping control device being electrically connected to a controller, and the shaft 63 being connected to the moving component 30 via a connecting rod 80.

[0048] The resistance to the rotation of the shaft 63 can be changed by the rotation damping control device.

[0049] Furthermore, the pivot 63 is connected to the moving component 30 via the connecting rod 80, thereby allowing the moving component 30 to rotate relative to the chassis body 20 due to vibration or the swinging of the robot body 10 around the pivot 63. Additionally, the chassis body 20 is provided with shaft holes, and the pivot 63 is disposed in the corresponding shaft holes.

[0050] Since the rotating shaft 63 is connected to the moving component 30 via the connecting rod 80, the connecting rod 80 is also connected to the rotating shaft 63. In this embodiment, the connection between the connecting rod 80 and the rotating shaft 63 can take various forms. For example, the connecting rod 80 can be connected to the end of the rotating shaft 63, or it can be connected to the circumferential surface of the rotating shaft 63. In some embodiments, the rotating shaft 63 and the connecting rod 80 are perpendicular.

[0051] In this embodiment of the disclosure, the connecting rod 80 can improve the stress condition of the moving component 30, making the connection between the moving component 30 and the chassis body 20 and the suspension shock absorber 50 more reasonable.

[0052] In some implementations, such as Figure 2 As shown, the rotation damping control device includes a DC motor 61, an electronically controlled resistor 71 connected in series in the power supply line of the DC motor 61, and the end of the DC motor output shaft 62 is fixedly connected to the end of the rotating shaft 63.

[0053] In this embodiment, the electrically controlled resistor 71 refers to a resistor whose resistance value can be electrically controlled. By connecting the electrically controlled resistor 71 in series in the power supply line of the DC motor 61, when the resistance value of the electrically controlled resistor 71 becomes zero, the power supply line of the DC motor 61 is short-circuited, and the resistance is at its maximum. Since the end of the DC motor output shaft 62 is fixedly connected to the end of the rotating shaft 63, the resistance of the rotating shaft 63 is also at its maximum. When the resistance value of the electrically controlled resistor 71 becomes infinite, the power supply line of the DC motor 61 is open-circuited, and the resistance is at its minimum. Since the end of the DC motor output shaft 62 is fixedly connected to the end of the rotating shaft 63, the resistance of the rotating shaft is also at its minimum. When the resistance value of the electrically controlled resistor 71 is a certain value, the resistance can be adjusted between the maximum and minimum values.

[0054] In other implementations, such as Figure 3As shown, the rotational damping control device includes a DC motor 61, a frequency switch 72 connected in series in the power supply line of the DC motor 61, and the end of the output shaft 62 of the DC motor is fixedly connected to the end of the rotating shaft 63.

[0055] In this embodiment, by connecting the frequency switch 72 in series in the power supply line of the DC motor 61, when the frequency switch 72 is closed, the power supply line of the DC motor 61 is short-circuited, resulting in maximum resistance. Since the end of the DC motor output shaft 62 is fixedly connected to the end of the rotating shaft 63, the resistance of the rotating shaft 63 is also maximum. When the frequency switch 72 is open, the power supply line of the DC motor 61 is disconnected, resulting in minimum resistance. Since the end of the DC motor output shaft 62 is fixedly connected to the end of the rotating shaft 63, the resistance of the rotating shaft 63 is also minimum. When the frequency switch 72 is closed with a certain duty cycle, the resistance can be adjusted between the maximum and minimum values.

[0056] In addition, it should be noted that when the DC motor 61 is not working, it is equivalent to the DC motor 61 power line being disconnected. In this case, the DC motor output shaft 62 can rotate under the action of external force.

[0057] The method by which the end of the DC motor output shaft 62 is fixedly connected to the end of the rotating shaft 63 can be, for example, welding.

[0058] In addition, in some embodiments, the DC motor output shaft 62 can be directly used as the rotating shaft 63.

[0059] In other embodiments, the rotational damping control device includes a magnetic field excitation device and a magnetorheological material 64, which is disposed in the gap between the rotating shaft 63 and the shaft hole where the rotating shaft 63 is located.

[0060] Please see Figure 4 A schematic diagram showing the positional relationship between the magnetorheological material 64 and the rotating shaft 63 is shown, as follows. Figure 4 As shown, magnetorheological material 64 is disposed in the gap between the rotating shaft 63 and the shaft hole where the rotating shaft 63 is located.

[0061] In this embodiment of the present disclosure, a magnetorheological material 64 is provided in the gap between the rotating shaft 63 and the shaft hole where the rotating shaft 63 is located. When an external magnetic field of different magnitude is excited by the magnetic field excitation device, the external magnetic field can interact with the magnetorheological material 64, thereby changing the fluidity of the magnetorheological material 64 and thus controlling the resistance to the rotation of the rotating shaft 63.

[0062] In some implementations, such as Figure 1As shown, the mobile component 30 includes a drive wheel 31 and a balance wheel 32. Both the drive wheel 31 and the balance wheel 32 are connected to the robot body 10 through a suspension shock absorber 50. The balance wheel 32 is rotatably connected to the chassis body 20 through a controllable damping shaft 60.

[0063] Among them, the drive wheel 31 can be understood as the wheel that actively drives the robot to move. The drive wheel 31 can be, for example, a hub motor or a traditional motor-driven wheel. The balance wheel 32 is the wheel used to support the robot to maintain balance, and is not the power source of the robot. The balance wheel 32 can be, for example, a swivel wheel.

[0064] In this embodiment, the drive wheel 31 and the balance wheel 32 work together to maintain the stability of the robot during normal operation. Furthermore, by including the balance wheel 32, the number of drive wheels 31 can be reduced, thereby reducing the robot's power requirements and saving costs.

[0065] The moving component 30 can be configured in various ways, that is, the drive wheel 31 and the balance wheel 32 can be configured in various ways.

[0066] For example, in some implementations, please refer to Figure 5 The diagram shows the distribution of the moving components 30, such as... Figure 5 As shown, there can be two drive wheels 31 and two balance wheels 32. The two drive wheels 31 are respectively set on both sides of the chassis body 20 in the first direction, and the two balance wheels 32 are respectively set on both sides of the chassis body 20 in the second direction. The first direction and the second direction are perpendicular.

[0067] For example, in other embodiments, there may be two drive wheels 31 and one balance wheel 32, or one drive wheel 31 and two balance wheels 32, or three drive wheels 31 and one balance wheel 32, etc.

[0068] It should be noted that when the number of drive wheels 31 is greater than one, the robot can be easily driven to move along a curve by adjusting the rotation speed of each drive wheel 31.

[0069] In some implementations, continue as Figure 1 As shown, besides the balance wheel 32 being rotatably connected to the chassis body 20 via the controllable damping shaft 60, Figure 1 The drive wheel 31 shown can also be rotatably connected to the chassis body 20 via a controllable damping shaft 60.

[0070] By also setting a controllable damping shaft 60 on the drive wheel 31, a controllable damping shaft 60 can be set on all wheels, thus enabling more precise control over the robot's stability.

[0071] In other embodiments, the moving component 30 may also consist entirely of drive wheels 31, for example, four drive wheels 31 may be provided on the chassis body 20.

[0072] In some embodiments, the suspension damper 50 used in the above embodiments may be a damping spring.

[0073] Please see Figure 6 , Figure 6 This is a flowchart illustrating a robot control method according to an exemplary embodiment of the present disclosure. This robot control method can be applied to the robot in any of the foregoing embodiments. (Refer to...) Figure 6 The robot control method includes:

[0074] S610: An attitude detector installed on the robot body detects the robot's attitude information and sends the attitude information to the controller.

[0075] The S620 controller processes the attitude information, generates control information, and sends the control information to the controllable damping shaft.

[0076] The S630's controllable damping shaft controls rotational resistance based on control information.

[0077] In this embodiment of the present disclosure, the attitude detector installed on the robot body can detect the robot's attitude in real time and generate corresponding attitude information. After generating the attitude information, the attitude information can be sent to the controller. When the controller receives the attitude information, it can process the attitude information, generate control information, and send the control information to the controllable damping shaft. After receiving the control information, the controllable damping shaft can control the rotational resistance based on the control information.

[0078] In some implementations, controlling rotational resistance can take various forms. For example, it can involve increasing rotational resistance, decreasing rotational resistance, or keeping rotational resistance constant.

[0079] Based on the robot of the foregoing embodiments, by adopting the above method, since the controllable damping shaft and the suspension shock absorber can jointly provide a force opposite to the swing direction of the robot body when the robot body swings, even if a small suspension stiffness is set, the stability of the robot body can be guaranteed, thereby taking into account both the shock absorption performance of the robot chassis and the stability of the robot body.

[0080] Based on the foregoing, attitude information can be simply represented by whether or not the device is tilted and the direction of tilt. In this case, the controller processes the attitude information and generates control information, for example, when the attitude information is detected to be tilted to the left, the rotational resistance of the left controllable damping shaft is increased; when the attitude information is detected to be tilted to the right, the rotational resistance of the right controllable damping shaft is increased; and when the attitude information is detected to be not tilted, the rotational resistance of the controllable damping shaft is eliminated.

[0081] As can be seen from the foregoing, attitude information can be represented in a more refined manner, that is, attitude information can include the attitude swing amplitude. In this case, the controller processes the attitude information to generate control information, including: the controller determines the target amplitude range corresponding to the attitude swing amplitude; the controller determines the control information corresponding to the target amplitude range according to the preset correspondence between the amplitude range and the control information.

[0082] In this embodiment of the disclosure, the controller internally stores the correspondence between amplitude range and control information. For example, if the amplitude range is 0 to 4.999 degrees, the control information is to control the rotational resistance of the controllable damping shaft on the left to be 50N; if the amplitude range is 5 to 9.999 degrees, the control information is to control the rotational resistance of the controllable damping shaft on the left to be 100N; if the amplitude range is 0 to -4.999 degrees, the control information is to control the rotational resistance of the controllable damping shaft on the right to be 50N; if the amplitude range is 5 to -9.999 degrees, the control information is to control the rotational resistance of the controllable damping shaft on the right to be 100N, etc.

[0083] Therefore, after receiving the attitude information, the controller can determine the target amplitude range based on the attitude swing amplitude range into which the attitude information falls, and then further determine the corresponding control information based on the pre-stored correspondence between amplitude range and control information.

[0084] In this embodiment of the present disclosure, the controller determines the target amplitude range corresponding to the attitude swing amplitude; the controller determines the control information corresponding to the target amplitude range according to the preset correspondence between the amplitude range and the control information, which can realize more precise control of the variable damping shaft and further maintain the stability of the robot.

[0085] According to one or more embodiments of this disclosure, Example 1 provides a robot characterized in that it includes:

[0086] The robot body is equipped with an attitude detector.

[0087] A chassis body, wherein the chassis body is disposed at the bottom of the robot body;

[0088] A mobile component is connected to the robot body via a suspension shock absorber. The mobile component is also connected to a controllable damping pivot and is rotatably connected to the chassis body via the controllable damping pivot.

[0089] The controller is electrically connected to the attitude detector and the controllable damping shaft, and is used to control the controllable damping shaft to change the rotational resistance according to the robot attitude information detected by the attitude detector.

[0090] According to one or more embodiments of this disclosure, Example 2 provides the robot of Example 1, wherein the controllable damping shaft includes a rotational damping control device and a shaft, the rotational damping control device being electrically connected to the controller, and the shaft being connected to the moving component via a linkage.

[0091] According to one or more embodiments of this disclosure, Example 3 provides the robot of Example 2, wherein the rotational damping control device includes a DC motor, an electrically controlled resistor is connected in series in the power supply line of the DC motor, and the end of the output shaft of the DC motor is fixedly connected to the end of the rotating shaft.

[0092] According to one or more embodiments of this disclosure, Example 4 provides a robot of Example 2, wherein the rotational damping control device includes a DC motor, a frequency switch is connected in series in the power supply line of the DC motor, and the end of the output shaft of the DC motor is fixedly connected to the end of the rotating shaft.

[0093] According to one or more embodiments of this disclosure, Example 5 provides the method of Example 2, wherein the rotational damping control device includes a magnetic field excitation device and a magnetorheological material, the magnetorheological material being disposed in the gap between the rotating shaft and the shaft hole in which the rotating shaft is located.

[0094] According to one or more embodiments of this disclosure, Example 6 provides a robot of any one of Examples 1-5, wherein the moving component includes a drive wheel and a balance wheel, both of which are connected to the robot body via suspension shock absorbers, and the balance wheel is rotatably connected to the chassis body via the controllable damping shaft.

[0095] According to one or more embodiments of this disclosure, Example 7 provides the robot of Example 6, wherein the drive wheel is rotatably connected to the chassis body via the controllable damping shaft.

[0096] According to one or more embodiments of this disclosure, Example 8 provides the robot of Example 6, wherein there are two drive wheels respectively disposed on both sides of the chassis body in a first direction, and two balance wheels respectively disposed on both sides of the chassis body in a second direction, wherein the first direction is perpendicular to the second direction.

[0097] According to one or more embodiments of this disclosure, Example 9 provides a robot control method applied to the robot described in any one of Examples 1-8, the method comprising:

[0098] An attitude detector installed on the robot body detects the robot's attitude information and sends the attitude information to the controller;

[0099] The controller processes the attitude information, generates control information, and sends the control information to the controllable damping shaft.

[0100] The controllable damping shaft controls the rotational resistance based on the control information.

[0101] According to one or more embodiments of this disclosure, Example 10 provides the method of Example 9, wherein the attitude information includes attitude sway amplitude, and the controller processes the attitude information to generate control information, including:

[0102] The controller determines the target amplitude range corresponding to the attitude swing amplitude;

[0103] The controller determines the control information corresponding to the target amplitude range based on a preset correspondence between the amplitude range and the control information.

[0104] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

[0105] Furthermore, while the structures and operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0106] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims. Regarding the methods in the above embodiments, the specific manner in which the operations are performed has been described in detail in the embodiments relating to the structure and will not be elaborated upon here.

Claims

1. A robot, characterized in that, include: The robot body is equipped with an attitude detector. A chassis body, wherein the chassis body is disposed at the bottom of the robot body; A mobile component is connected to the robot body via a suspension shock absorber. The mobile component is also connected to a controllable damping pivot and is rotatably connected to the chassis body via the controllable damping pivot. A controller, electrically connected to the attitude detector and the controllable damping shaft, is used to control the controllable damping shaft to change the rotational resistance based on the robot attitude information detected by the attitude detector. The controllable damping shaft includes a rotation damping control device and a shaft. The rotation damping control device is electrically connected to the controller, and the shaft is connected to the moving component via a connecting rod. The rotational damping control device includes a DC motor, a frequency switch connected in series in the power supply line of the DC motor, and the end of the output shaft of the DC motor is fixedly connected to the end of the rotating shaft; when the frequency switch is controlled to close with a certain duty cycle, the resistance can be adjusted between the maximum and minimum values. The moving component includes a drive wheel and a balance wheel. Both the drive wheel and the balance wheel are connected to the robot body via suspension shock absorbers. The balance wheel is rotatably connected to the chassis body via the controllable damping shaft.

2. The robot of claim 1, wherein, The rotational damping control device includes a DC motor, with an electrically controlled resistor connected in series in the power supply line of the DC motor, and the end of the output shaft of the DC motor is fixedly connected to the end of the rotating shaft.

3. The robot of claim 1, wherein, The rotational damping control device includes a magnetic field excitation device and a magnetorheological material, wherein the magnetorheological material is disposed in the gap between the rotating shaft and the shaft hole in which the rotating shaft is located.

4. The robot according to claim 1, characterized in that, The drive wheel is rotatably connected to the chassis body via the controllable damping shaft.

5. The robot according to claim 1, characterized in that, There are two drive wheels, which are respectively located on both sides of the chassis body in a first direction. There are two balance wheels, which are respectively located on both sides of the chassis body in a second direction. The first direction is perpendicular to the second direction.

6. A robot control method, characterized in that, Applied to the robot of any one of claims 1-5, the method comprises: An attitude detector installed on the robot body detects the robot's attitude information and sends the attitude information to the controller; The controller processes the attitude information, generates control information, and sends the control information to the controllable damping shaft. The controllable damping shaft controls the rotational resistance based on the control information.

7. The method according to claim 6, characterized in that, The attitude information includes the attitude swing amplitude. The controller processes the attitude information to generate control information, including: The controller determines the target amplitude range corresponding to the attitude swing amplitude; The controller determines the control information corresponding to the target amplitude range based on a preset correspondence between the amplitude range and the control information.

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