A control method and device of a mechanical leg and a storage medium

Abstract

The application relates to a control method of a mechanical leg, comprising the following steps: obtaining a working mode of the mechanical leg, wherein the working mode at least comprises an auxiliary carrying mode, a rehabilitation mode, a debugging mode and a motion mode; determining a running speed and a running direction of a motor on the mechanical leg according to the obtained working mode; controlling the mechanical leg to perform corresponding actions according to the running speed and the running direction of the motor; and determining the running speed of the motor set on the mechanical leg and suitable for the working mode in the determined working mode by obtaining the working mode of the mechanical leg, and then controlling the mechanical leg to perform actions according to the running speed, so that the mechanical leg can be adapted to different application scenarios, the use requirements of users in different scenarios can be met, the cost burden of the users can be reduced, and the user experience is good.

Description

[Technical Field]

[0001] This application relates to the field of communication technology, and in particular to a control method, device and storage medium for a mechanical leg. [Background Technology]

[0002] Mechanical legs, also known as mechanical exoskeletons or powered exoskeletons, are essentially wearable robots. They combine human intelligence with the mechanical energy of an external power unit, providing additional power or capabilities and enhancing human function. The realization of mechanical exoskeletons is closely related to the development of materials technology, bionics technology, micro-energy technology, robotics technology, sensor technology, and control technology. It is a highly integrated technology that is closely related to the development of various supporting technologies and also promotes the development of other related technologies.

[0003] Existing robotic legs are mainly used in material handling and logistics transportation, disaster relief, or to assist people with lower limb disabilities in movement. However, existing robotic legs are often expensive and have high prices. If users have multiple application scenarios, they need to use multiple robotic legs adapted to different scenarios to meet their needs, resulting in a heavy cost burden and a poor user experience. [Summary of the Invention]

[0004] To meet users' needs in using robotic legs and to enable them to adapt to different scenarios, reduce the cost burden on users when they have multiple scenario requirements, and improve the user experience, this invention obtains the working mode of the robotic leg, determines the operating speed of the motor on the robotic leg that is adapted to the working mode, and then controls the robotic leg to perform actions based on the operating speed.

[0005] This application proposes the following solution:

[0006] A method for controlling a mechanical leg includes:

[0007] The working modes of the robotic leg are obtained, and the working modes include at least: assisted handling mode, rehabilitation mode, adjustment mode and movement mode;

[0008] Based on the obtained working mode, determine the operating speed and direction of the motor on the mechanical leg;

[0009] The mechanical leg is controlled to perform corresponding actions based on the motor's operating speed and direction.

[0010] The control method described below, wherein acquiring the working mode of the robotic leg, the working mode includes at least the following steps: assisted transport mode, rehabilitation mode, adjustment mode, and movement mode, including:

[0011] Obtain the first environmental image of the user's current location;

[0012] Based on the first environmental image, determine the corresponding work scene;

[0013] The working mode of the robotic leg is determined based on the working scenario and the preset working scenario.

[0014] The control method described below, in the step of determining the working mode of the robotic leg based on the working scenario and a preset working scenario, includes the following methods for preset working scenarios:

[0015] Acquire multiple preset images of the user's work environment;

[0016] Based on the multiple work environment images and clustering algorithms, the classification of each work environment image is determined;

[0017] Based on the classification of images of each work environment, corresponding work scenes are generated.

[0018] The control method described below, wherein the step of determining the operating speed and direction of the motor on the mechanical leg based on the acquired working mode, includes:

[0019] Based on the obtained working mode, match the corresponding motion posture and motion speed;

[0020] The direction of motor rotation is determined based on the corresponding motion posture;

[0021] The operating speed of the motor is determined based on the speed of movement.

[0022] The control method described below, wherein the step of controlling the mechanical leg to perform corresponding actions based on the motor's operating speed and direction, includes:

[0023] The speed of the motor is used to control the operation of the gearbox that is linked to the motor.

[0024] The gearbox drives the corresponding structural components on the mechanical leg to move.

[0025] A control device for a mechanical leg, comprising:

[0026] The acquisition module is used to acquire the working mode of the robotic leg, which includes at least: assisted handling mode, rehabilitation mode, adjustment mode and exercise mode;

[0027] The determination module is used to determine the operating speed and direction of the motor on the robotic leg based on the acquired working mode;

[0028] The processing module is used to control the mechanical leg to perform corresponding actions based on the motor's operating speed and direction.

[0029] The control device described below, wherein the acquisition module includes:

[0030] The acquisition unit is used to acquire the first environmental image of the user's current location;

[0031] The first determining unit is used to determine the corresponding work scene based on the first environmental image;

[0032] The second determining unit is used to determine the working mode of the robotic leg based on the working scenario and the preset working scenario;

[0033] In the second determining unit, the method for the preset working scenario includes:

[0034] The acquisition sub-unit is used to acquire multiple preset working environment images;

[0035] A sub-unit is defined to determine the classification of each working environment image based on the multiple working environment images and the clustering algorithm.

[0036] The generation sub-unit is used to generate the corresponding work scene based on the classification of each work environment image;

[0037] The determining module includes:

[0038] The matching unit is used to match the corresponding motion posture and motion speed according to the acquired working mode;

[0039] The third determining unit is used to determine the direction of motor rotation based on the corresponding motion posture;

[0040] The fourth determining unit is used to determine the operating speed of the motor based on the motion speed;

[0041] The processing module includes:

[0042] The control unit is used to control the operation of the gearbox that is linked to the motor according to the operating speed of the motor.

[0043] An actuation unit is used by the gearbox to drive the corresponding structural components on the mechanical leg to move.

[0044] A computer-readable storage medium storing a computer program that, when executed by a control device for a robotic leg, implements the control method for the robotic leg as described below.

[0045] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the control method for the mechanical leg as described below.

[0046] This invention, through obtaining the working mode of the robotic leg, determines the operating speed of the motor on the robotic leg that is compatible with the working mode, and then controls the robotic leg to perform actions based on the operating speed. This enables the robotic leg to adapt to different application scenarios, meet the user's needs in different scenarios, reduce the user's cost burden, and provide a better user experience. [Attached Image Description]

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a flowchart of the control method for the mechanical leg according to the first embodiment of the present invention;

[0049] Figure 2 yes Figure 1 Detailed flowchart of step S11;

[0050] Figure 3 yes Figure 2 Detailed flowchart of step S113;

[0051] Figure 4 yes Figure 1 Detailed flowchart of step S12;

[0052] Figure 5 yes Figure 1 Detailed flowchart of step S13;

[0053] Figure 6 This is a structural block diagram of the control device for the mechanical leg according to the second embodiment of the present invention;

[0054] Figure 7 yes Figure 6 The detailed structural diagram of the module is obtained;

[0055] Figure 8 yes Figure 7 Detailed structural block diagram of the second defined unit;

[0056] Figure 9 yes Figure 6 The detailed structural block diagram of the module is determined in the middle;

[0057] Figure 10 yes Figure 6 Detailed structural block diagram of the processing module;

[0058] Figure 11This is a structural block diagram of a computer device according to another embodiment of the present invention.

Detailed Implementation Methods

[0059] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Well-known modules, units, and their connections, links, communications, or operations are not shown or described in detail. Furthermore, the described features, architectures, or functions can be combined in any way in one or more embodiments. Those skilled in the art should understand that the various embodiments described below are only for illustrative purposes and not for limiting the scope of protection of the present invention. It is also readily understood that the modules, units, or processing methods in the various embodiments described herein and shown in the accompanying drawings can be combined and designed in various different configurations. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0060] The definitions of various terms or methods used in the following embodiments are, except where logically impossible, generally defined as broad concepts that can be implemented under the premise of the content disclosed in the embodiments. Under this understanding, all specific subordinate limitations of the terms or methods should be considered as part of the invention, and should not be narrowly interpreted or biased simply because the specification does not disclose such a specific limitation. For example, when the present invention refers to a cloud platform, it includes not only virtual network servers but also real physical devices, which not only have data storage capabilities but also data processing, intelligent analysis, and reasoning capabilities. Similarly, provided logically feasible, the order of steps in the method is flexible and varied, and all specific subordinate limitations within the broad concepts of various terms or methods fall within the scope of protection of this invention.

[0061] First embodiment:

[0062] Please refer to Figures 1 to 5 As shown, this embodiment proposes a control method for a mechanical leg, including S11-S13, wherein:

[0063] S11. Obtain the working mode of the mechanical leg, wherein the working mode includes at least: assisted handling mode, rehabilitation mode, adjustment mode and movement mode.

[0064] To meet user needs in different scenarios and enable the robotic leg to achieve multiple uses, this embodiment sets corresponding working modes to address different user requirements. In existing scenarios, the most commonly used modes are assisted handling and rehabilitation, while the debugging mode is for machine training before delivery or routine maintenance and debugging after delivery.

[0065] As a preferred option rather than a specific limitation, step S11 includes S111-S113, wherein:

[0066] S111, Obtain the first environmental image of the user's current location.

[0067] In order to obtain the working mode of the robotic leg more accurately, this embodiment uses a miniature camera on the robotic leg to record environmental images, and then analyzes them to obtain the first environmental image of the user's current location.

[0068] S112. Determine the corresponding work scene based on the first environmental image.

[0069] This embodiment acquires the first environmental image of the user's current location using the aforementioned miniature camera. It then matches the corresponding image data with preset scene data to determine the corresponding work scene. Depending on the scene, such as a ward, home, warehouse, or items placed in the environment, the corresponding work scene is determined. This allows for accurate identification of the user's work scene, thereby enabling better control of the robotic leg.

[0070] S113. Determine the working mode of the robotic leg based on the working scenario and the preset working scenario.

[0071] This embodiment compares and matches the working scene determined by the first environmental influence with the preset working scene in the cloud platform. Based on the different scenes, a corresponding working mode is determined, allowing the robotic leg to automatically enter the corresponding working mode after changing environments, resulting in better control and a better user experience. If the user does not wish to switch working modes after entering a corresponding scene, they can turn off the automatic recognition function by switching the manual switch.

[0072] As a preferred option rather than a specific limitation, the method for presetting the working scenario in step S113 includes S1131-S1133, wherein:

[0073] S1131. Acquire multiple preset images of the working environment.

[0074] In order to better confirm the working scene, this embodiment presets the corresponding working scene in the cloud platform of the robotic leg to ensure that the recognition system on the robotic leg can accurately identify the corresponding working scene. In order to ensure the accuracy of the preset working scene, the robotic leg is set to debugging mode and a large number of corresponding scene images are acquired in each corresponding working scene and then analyzed.

[0075] S1132. Based on the multiple work environment images and the clustering algorithm, determine the classification of each work environment image.

[0076] This embodiment analyzes multiple corresponding scene images acquired in debug mode. Clustering algorithms are used for classification to identify different working scenarios, improving discriminative power and ensuring stable operation of the robotic leg during normal operation.

[0077] Clustering is the process of dividing a dataset into different classes or clusters according to a specific criterion, such as distance, so that the similarity of data objects within the same cluster is as high as possible, while the differences between data objects in different clusters are also as high as possible. In other words, after clustering, data of the same class is grouped together as much as possible, and data of different classes are separated as much as possible.

[0078] S1133. Generate corresponding work scenes based on the classification of each work environment image.

[0079] This embodiment classifies the work environment images by corresponding to the classification numbers one by one, and then determines the corresponding work scene according to preset requirements. The preset requirements are mainly based on the user inputting the corresponding scene information in the smart terminal, or setting information according to social rules and inputting it into the cloud platform. For example, if the acquired environment image is a scene that requires labor, such as a construction site or dock, it is determined to be an assisted handling mode. If the acquired environment image is a hospital or a more relaxed home, it is determined to be a rehabilitation mode. The above scenarios are only examples, and users can adjust them according to actual needs and make adjustments and modifications on the user's smart terminal.

[0080] S12. Based on the obtained working mode, determine the operating speed and direction of the motor on the mechanical leg.

[0081] After determining the working mode, this embodiment needs to control the mechanical leg to perform corresponding actions. For the mechanical leg, the most important thing is the rotation speed and direction of the motor on its joint. By coordinating the appropriate direction with the speed, the mechanical leg can move forward, backward, left, right, up, and down.

[0082] As a preferred option rather than a specific limitation, step S12 includes S121-S123, wherein:

[0083] S121. Based on the obtained working mode, match the corresponding motion posture and motion speed.

[0084] In order to achieve better control, after obtaining the corresponding working mode, this embodiment matches the corresponding information in the cloud platform according to the settings of the corresponding working mode to obtain the specific motion posture and motion speed adopted by the corresponding working mode. The motion posture includes at least forward, backward, left turn or right turn.

[0085] S122. Determine the direction of motor rotation based on the corresponding motion posture.

[0086] In this embodiment, the mechanical leg is equipped with corresponding motors at the two knee joints and the two hip joints. When the mechanical leg is needed, the human body and the mechanical leg are fixed together by structural components. Then, the mechanical leg is started and starts to match the corresponding working mode. After that, the motor rotates to drive the human body to achieve the corresponding movement. Therefore, in this step, after the corresponding movement posture is determined, the rotation direction of the motor can be determined, thereby realizing the control of the motor.

[0087] S123. Determine the operating speed of the motor based on the speed of motion.

[0088] In this embodiment, the output speed of the motor can be adjusted according to the speed required for the movement. The motor speed is adjusted through PWM. For example, in the assisted handling mode, if a larger force is required, the motor will selectively reduce its speed to provide greater torque. If it is used in the movement mode, the motor speed will be made too high to adapt to the needs of the movement mode.

[0089] S13. Control the mechanical leg to perform corresponding actions according to the motor's operating speed and direction.

[0090] In this embodiment, after determining the operating speed and direction of the motor, the mechanical leg's running path is planned. The running path planning can be done on a smart terminal or manually.

[0091] As a preferred option rather than a specific limitation, step S13 includes S131-S132, wherein:

[0092] S131. Control the operation of the gearbox linked to the motor according to the operating speed of the motor.

[0093] In order to ensure that the motor can stably drive the corresponding structural components on the mechanical leg, this embodiment installs a reduction gearbox between the motor and the structural components. When the motor's operating speed is determined, the reduction gearbox is driven by the motor to operate stably and efficiently, thereby driving the structural components on the mechanical leg to move and complete the work of the mechanical leg.

[0094] S132, The gearbox drives the corresponding structural components on the mechanical leg to move.

[0095] In order to ensure that the motor can stably drive the corresponding structural components on the mechanical leg, this embodiment installs a reduction gearbox between the motor and the structural components. The mechanical leg is driven by the reduction gearbox with a suitable reduction ratio, which results in better control stability and better control effect.

[0096] This embodiment mainly focuses on the selection and operation of the mechanical leg's working mode, and its corresponding motion path and motion method are adapted to existing automatic control methods.

[0097] This embodiment obtains the working mode of the robotic leg, determines the operating speed of the motor on the robotic leg that is adapted to the working mode, and then controls the robotic leg to perform actions according to the operating speed. This enables the robotic leg to adapt to different application scenarios, meet the user's needs in different scenarios, reduce the user's cost burden, and provide a better user experience.

[0098] Second embodiment:

[0099] Please refer to Figures 5 to 10 As shown, this embodiment proposes a control device for a mechanical leg, including an acquisition module, a determination module, and a processing module, wherein:

[0100] The acquisition module is used to acquire the working mode of the robotic leg, which includes at least: assisted handling mode, rehabilitation mode, debugging mode and movement mode.

[0101] As a preferred embodiment rather than a specific limitation, the acquisition module includes an acquisition unit, a first determining unit, and a second determining unit, wherein:

[0102] The acquisition unit is used to acquire the first environmental image of the user's current location.

[0103] The first determining unit, connected to the acquiring unit, is used to determine the corresponding working scene based on the first environmental image.

[0104] The second determining unit, connected to the first determining unit, is used to determine the working mode of the robotic leg based on the working scenario and the preset working scenario.

[0105] As a preferred option rather than a specific limitation, the method for the preset working scenario in the second determining unit includes obtaining sub-units, determining sub-units, and generating sub-units, wherein:

[0106] The acquisition sub-unit is used to acquire multiple preset working environment images.

[0107] The determination sub-unit, connected to the acquisition sub-unit, is used to determine the classification of each working environment image based on the multiple working environment images and the clustering algorithm.

[0108] The generation sub-unit, connected to the determination sub-unit, is used to generate the corresponding work scene based on the classification of each work environment image.

[0109] The determination module, connected to the acquisition module, is used to determine the operating speed and direction of the motor on the mechanical leg based on the acquired working mode.

[0110] As a preferred option rather than a specific limitation, the determining module includes a matching unit, a third determining unit, and a fourth determining unit, wherein:

[0111] The matching unit is used to match the corresponding motion posture and motion speed based on the acquired working mode.

[0112] The third determining unit, connected to the matching unit, is used to determine the motor's rotation direction based on the corresponding motion posture.

[0113] The fourth determining unit, connected to the third determining unit, is used to determine the operating speed of the motor based on the motion speed.

[0114] The processing module, connected to the determining module, is used to control the mechanical leg to perform corresponding actions based on the motor's operating speed and direction.

[0115] As a preferred embodiment rather than a specific limitation, the processing module includes a control unit and an action unit, wherein:

[0116] The control unit is used to control the operation of the gearbox that is linked to the motor according to the operating speed of the motor.

[0117] The actuation unit, connected to the control unit, is used by the gearbox to drive the corresponding structural components on the mechanical leg to move.

[0118] This embodiment obtains the working mode of the robotic leg, determines the operating speed of the motor on the robotic leg that is adapted to the working mode, and then controls the robotic leg to perform actions according to the operating speed. This enables the robotic leg to adapt to different application scenarios, meet the user's needs in different scenarios, reduce the user's cost burden, and provide a better user experience.

[0119] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0120] This invention also provides a computer storage medium storing a computer program that, when executed by a processor, implements a control method for a mechanical leg as described in the above embodiments.

[0121] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the mechanical leg control methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0122] Alternatively, if the integrated units of this invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this invention, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, terminal, or network device, etc.) to execute all or part of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, RAM, ROM, magnetic disks, or optical disks.

[0123] Corresponding to the computer storage medium described above, one embodiment also provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a control method for a mechanical leg as described in the above embodiments.

[0124] This computer device can be a terminal, and its internal structure diagram can be as follows: Figure 11 As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for controlling a mechanical leg. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0125] This embodiment obtains the working mode of the robotic leg, determines the operating speed of the motor on the robotic leg that is adapted to the working mode, and then controls the robotic leg to perform actions according to the operating speed. This enables the robotic leg to adapt to different application scenarios, meet the user's needs in different scenarios, reduce the user's cost burden, and provide a better user experience.

[0126] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0127] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

[0128] The above description is one implementation method provided in conjunction with specific content, and does not imply that the specific implementation of this application is limited to these descriptions. Any methods or structures that are similar to or identical to those of this application, or any technical deductions or substitutions made based on the concept of this application, should be considered within the scope of protection of this application.

Claims

1. A control method for a mechanical leg, characterized in that, include: The working modes of the robotic leg are obtained, and the working modes include at least: assisted handling mode, rehabilitation mode, adjustment mode and movement mode; Based on the obtained working mode, determine the operating speed and direction of the motor on the mechanical leg; The mechanical leg is controlled to perform corresponding actions based on the motor's operating speed and direction. The process of acquiring the working mode of the robotic leg includes at least the following steps: assisted transport mode, rehabilitation mode, adjustment mode, and movement mode. Obtain the first environmental image of the user's current location; Based on the first environmental image, determine the corresponding work scene; The working mode of the robotic leg is determined based on the work scenario and the preset work scenario. In the step of determining the working mode of the robotic leg based on the working scenario and the preset working scenario, the method for presetting the working scenario includes: Acquire multiple preset images of the user's work environment; Based on the multiple work environment images and clustering algorithms, the classification of each work environment image is determined; Based on the classification of each work environment image, generate corresponding work scenes; The step of determining the operating speed and direction of the motor on the mechanical leg based on the acquired working mode includes: Based on the obtained working mode, match the corresponding motion posture and motion speed; The direction of motor rotation is determined based on the corresponding motion posture; Determine the motor's operating speed based on the speed of movement; After determining the working mode, the system matches the settings of the corresponding working mode with the corresponding information in the cloud platform to obtain the specific motion posture and speed used in the corresponding working mode. The motion posture includes at least forward, backward, left turn, or right turn. After determining the corresponding motion posture, the rotation direction of the motor is determined. And the output speed of the motor is adjusted according to the speed required for the motion. The step of controlling the mechanical leg to perform corresponding actions based on the motor's operating speed and direction includes: The speed of the motor is used to control the operation of the gearbox that is linked to the motor. The gearbox drives the corresponding structural components on the mechanical leg to move; A gearbox is installed between the motor and the structural components. When the motor speed is determined, the motor drives the gearbox to move, which in turn drives the structural components on the mechanical leg to move, thereby completing the work of the mechanical leg.

2. A control device for a mechanical leg, characterized in that, The method for controlling a mechanical leg as described in claim 1 includes: The acquisition module is used to acquire the working mode of the robotic leg, wherein the working mode includes at least: Assisted transport mode, rehabilitation mode, adjustment mode, and exercise mode; The determination module is used to determine the operating speed and direction of the motor on the mechanical leg based on the acquired working mode; The processing module is used to control the mechanical leg to perform corresponding actions based on the motor's operating speed and direction.

3. The control device according to claim 2, characterized in that, The acquisition module includes: The acquisition unit is used to acquire the first environmental image of the user's current location; The first determining unit is used to determine the corresponding work scene based on the first environmental image; The second determining unit is used to determine the working mode of the robotic leg based on the working scenario and the preset working scenario; In the second determining unit, the method for the preset working scenario includes: The acquisition sub-unit is used to acquire multiple preset working environment images; A sub-unit is defined to determine the classification of each working environment image based on the multiple working environment images and the clustering algorithm. The generation sub-unit is used to generate the corresponding work scene based on the classification of each work environment image; The determining module includes: The matching unit is used to match the corresponding motion posture and motion speed according to the acquired working mode; The third determining unit is used to determine the direction of motor rotation based on the corresponding motion posture; The fourth determining unit is used to determine the operating speed of the motor based on the motion speed; The processing module includes: The control unit is used to control the operation of the gearbox that is linked to the motor according to the operating speed of the motor. An actuation unit is used by the gearbox to drive the corresponding structural components on the mechanical leg to move.

4. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by the control device of the robotic leg, implements the control method of the robotic leg as described in claim 1.

5. A computer device, characterized in that, The computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the control method of the mechanical leg as described in claim 1.

Images