Motion starting and swinging method, device, robot, storage medium and product of a robot

Abstract

The present application discloses a method, device, robot, storage medium and product for starting and swinging the movement of a robot, relating to the field of robots. The method includes: receiving a movement start and swing instruction; in response to the movement start and swing instruction, controlling the first leg of the robot to be in a suspended state, and performing a leg retraction action of the first leg, and when the suspended state ends, supporting the ground with a first mechanical wheel at the knee joint of the first leg; using the first mechanical wheel as a balanced force point to control the second leg of the robot to be suspended. Through the above method, it is possible to control the first leg to perform a leg retraction action in a suspended state when the area available for the robot's leg movement is small, and use the first mechanical wheel after leg retraction as a ground support component, avoiding the starting and swinging process only through the inertial movement of the foot, and effectively solving the problem of large demand for the running area. The present application can be applied to various scenarios such as cloud technology, artificial intelligence, and intelligent transportation.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of robots, and particularly to a motion starting and swinging method, device, robot, storage medium and product for a robot. Background Art

[0002] With the continuous development of robot technology, the functions of robots are becoming increasingly powerful. Different types of robots can cope with various working environments and execute different operation tasks according to operation instructions.

[0003] In related technologies, in order to adapt to more scenarios, quadruped robots are usually used to handle various daily tasks, and through a starting and swinging method, the quadruped robot is transformed into a biped robot to meet the application scenarios of biped and quadruped. For example: the hind legs of the quadruped robot move forward quickly, causing the front legs to leave the ground, and the posture is adjusted during the starting and swinging process to achieve a biped balance state.

[0004] During the above starting and swinging process, the position where the robot is located needs to be wide enough to enable the hind legs to move forward quickly, that is: the movement area required to support the robot to complete the starting and swinging process is relatively large. When the position where the robot is located is relatively narrow, the robot cannot enter the biped balance state through the above process, greatly reducing the application scenarios of the robot. Summary of the Invention

[0005] Embodiments of the present application provide a motion starting and swinging method, device, robot, storage medium and product for a robot, which can control the first leg to perform a leg retracting action in a suspended state and use the first mechanical wheel after leg retraction as a ground-supporting component when the activity area available for the robot's legs is small, avoiding the starting and swinging process that only relies on the inertial movement of the feet, and effectively solving the problem of a large required running area. The technical solution is as follows.

[0006] On the one hand, a motion starting and swinging method for a robot is provided. The robot includes legs and a main body part connecting the legs. The legs include a knee joint that can bend and move, and a mechanical wheel is included at the knee joint; the legs include a first leg and a second leg, and the second leg and the first leg are arranged in a front-back manner along the starting and swinging direction of the robot;

[0007] The method includes:

[0008] Receiving a motion starting and swinging instruction;

[0009] In response to the motion starting and swinging instruction, controlling the first leg of the robot to be in a suspended state and performing a leg retracting action of the first leg, and supporting the ground with the first mechanical wheel at the knee joint of the first leg when the suspended state ends;

[0010] Taking the first mechanical wheel as the balanced force point, control the second leg of the robot to be suspended and stabilize it to a balanced state.

[0011] On the other hand, a starting and swinging device for a robot is provided. The robot includes legs and a main body part connecting the legs. The legs include bendable knee joints, and mechanical wheels are included at the knee joints; the legs include a first leg and a second leg, and the first leg and the second leg are arranged in the front and back along the starting and swinging direction of the robot;

[0012] The device includes:

[0013] An instruction receiving module for receiving a starting and swinging instruction;

[0014] A first control module for, in response to the starting and swinging instruction, controlling the first leg of the robot to be in a suspended state, performing a leg retracting action of the first leg, and supporting the first mechanical wheel at the knee joint of the first leg on the ground when the suspended state ends;

[0015] A second control module for, taking the first mechanical wheel as the balanced force point, controlling the second leg of the robot to be suspended and stabilizing it to a balanced state.

[0016] On the other hand, a robot is provided. The robot includes a processor and a memory. At least one instruction, at least one program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the starting and swinging method of the robot according to any one of the above embodiments of the present application.

[0017] On the other hand, a computer-readable storage medium is provided. At least one instruction, at least one program, a code set or an instruction set is stored in the storage medium, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the starting and swinging method of the robot according to any one of the above embodiments of the present application.

[0018] On the other hand, a computer program product or a computer program is provided. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the starting and swinging method of the robot according to any one of the above embodiments.

[0019] The beneficial effects brought by the technical solutions provided in the embodiments of the present application at least include:

[0020] In a robot that needs to perform a starting swing motion, the leg includes a knee joint that can bend, and a mechanical wheel is correspondingly included at the knee joint. When receiving a starting swing motion instruction, the first leg of the robot is controlled to be in a suspended state, and the leg retracting action of the first leg is executed. At the end of the suspended state, the first mechanical wheel at the knee joint of the first leg is supported on the ground, and the second leg of the robot is controlled to be suspended, thus realizing the starting swing process. In the case where the activity area available for the robot's legs is small, through the suspended state and the leg retracting action during the suspended state, the robot can, after the suspended process, use the first mechanical wheel after leg retraction as the ground-supporting component instead of always using the foot as the ground-supporting component, avoiding the starting swing process that relies only on the inertial motion of the foot, effectively solving the problem of a large requirement for the running area. In addition, realizing the leg retracting action during the suspended process can also avoid the multi-process operation problem when the calf is used as a support, simplifying the operation process of the robot during the starting swing action and improving the efficiency of the starting swing motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 It is a schematic side structure diagram of a quadruped robot dog provided by an exemplary embodiment of the present application;

[0023] Figure 2 It is a schematic structure diagram of the quadruped robot dog obliquely forward provided by an exemplary embodiment of the present application;

[0024] Figure 3 It is a schematic diagram of using the first mechanical wheel to support the ground provided by an exemplary embodiment of the present application;

[0025] Figure 4 It is a flowchart of the starting swing method of the robot provided by an exemplary embodiment of the present application;

[0026] Figure 5 It is a schematic structure diagram of the first leg provided by an exemplary embodiment of the present application;

[0027] Figure 6 It is a flowchart of the starting swing method of the robot provided by another exemplary embodiment of the present application;

[0028] Figure 7 It is a flowchart of the starting swing method of the robot provided by yet another exemplary embodiment of the present application;

[0029] Figure 8It is a schematic diagram of a function for sample curve interpolation provided by an exemplary embodiment of the present application;

[0030] Figure 9 It is a schematic diagram for determining the first angle and the second angle provided by an exemplary embodiment of the present application;

[0031] Figure 10 It is a schematic diagram of the processing procedure of a motor control module provided by an exemplary embodiment of the present application;

[0032] Figure 11 It is a flowchart of a method for starting the swing of a robot provided by another exemplary embodiment of the present application;

[0033] Figure 12 It is a schematic diagram of the initial state of a quadruped robot dog provided by an exemplary embodiment of the present application;

[0034] Figure 13 It is a schematic diagram of the squatting state of a quadruped robot dog provided by an exemplary embodiment of the present application;

[0035] Figure 14 It is a schematic diagram of the state of a quadruped robot dog extending its first leg provided by an exemplary embodiment of the present application;

[0036] Figure 15 It is a schematic diagram of the leg retraction state of a quadruped robot dog provided by an exemplary embodiment of the present application;

[0037] Figure 16 It is a schematic diagram of the state of a first mechanical wheel supporting the ground provided by an exemplary embodiment of the present application;

[0038] Figure 17 It is a partial enlarged schematic diagram of the first mechanical wheel before the first leg enters the leg retraction state provided by an exemplary embodiment of the present application;

[0039] Figure 18 It is a schematic diagram of the state of a first mechanical wheel supporting the ground provided by an exemplary embodiment of the present application;

[0040] Figure 19 It is a partial enlarged schematic diagram of the first mechanical wheel after the first leg enters the leg retraction state provided by an exemplary embodiment of the present application;

[0041] Figure 20 It is a schematic diagram of the state of a quadruped robot dog extending its second leg provided by an exemplary embodiment of the present application;

[0042] Figure 21 It is a schematic diagram of the state where the second leg of a quadruped robot dog is suspended provided by an exemplary embodiment of the present application;

[0043] Figure 22It is a schematic diagram of the vertical state of a quadruped robot dog provided by an exemplary embodiment of the present application;

[0044] Figure 23 It is a flowchart of a motion start-up method for a robot provided by another exemplary embodiment of the present application;

[0045] Figure 24 It is a schematic diagram of the initial state of a quadruped robot dog provided by still another exemplary embodiment of the present application;

[0046] Figure 25 It is a schematic diagram of the state of a quadruped robot dog extending its left hind leg provided by an exemplary embodiment of the present application;

[0047] Figure 26 It is a schematic diagram of the state of a quadruped robot dog retracting its left hind leg provided by an exemplary embodiment of the present application;

[0048] Figure 27 It is a schematic diagram of the state where the wheel corresponding to the left hind leg of a quadruped robot dog realizes the ground-supporting state provided by an exemplary embodiment of the present application;

[0049] Figure 28 It is a schematic diagram of the state of a quadruped robot dog extending its right hind leg provided by an exemplary embodiment of the present application;

[0050] Figure 29 It is a schematic diagram of the state of a quadruped robot dog retracting its right hind leg provided by an exemplary embodiment of the present application;

[0051] Figure 30 It is a schematic diagram of the wheel support state provided by an exemplary embodiment of the present application;

[0052] Figure 31 It is a structural block diagram of a motion start-up device for a robot provided by an exemplary embodiment of the present application;

[0053] Figure 32 It is a structural block diagram of a terminal provided by an exemplary embodiment of the present application. Detailed implementation manners

[0054] To make the objectives, technical solutions, and advantages of the present application clearer, the following will further describe the embodiments of the present application in detail with reference to the accompanying drawings.

[0055] In the related art, in order to adapt to more scenarios, quadruped robots are usually used to handle various daily tasks, and through a start-up method, the quadruped robots are transformed into biped robots to meet the application scenarios of both biped and quadruped. For example: the hind legs of the quadruped robot quickly move forward, causing the front legs to leave the ground, and posture adjustment is performed during the start-up process to achieve a biped balance state.

[0056] However, during the above-mentioned starting swing process, the position where the robot is located needs to be wide enough to enable the rapid forward movement of the hind legs. That is, a relatively large movement area is required to support the robot to complete the starting swing process. When the position where the robot is located is relatively narrow, the robot cannot enter the bipedal balance state through the above process, greatly reducing the application scenarios of the robot.

[0057] In an embodiment of the present application, a method for starting the swing of a robot is provided, which can control the first leg to perform a leg retraction action in a suspended state when the area available for the robot's leg movement is small, and use the first mechanical wheel after leg retraction as a ground-supporting component, avoiding the starting swing process that only relies on the inertial movement of the foot, and effectively solving the problem of large required running area. The method for starting the swing of the robot trained according to the present application includes at least one of the scenarios of running the robot on a flat surface and running the robot on a pile surface when applied.

[0058] It should be noted that the above application scenarios are only illustrative examples. The method for starting the swing of the robot provided in this embodiment can also be applied to other scenarios, and the embodiments of the present application do not limit this.

[0059] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.) and signals involved in the present application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with the relevant laws, regulations and standards of relevant countries and regions. For example, the data involved in controlling the robot in the present application are all obtained under full authorization.

[0060] In an optional embodiment, the robot that completes the method for starting the swing is implemented as a bipedal robot. That is, when running in a bipedal state, the robot realizes motion control through two legs; when the starting swing action is completed, the robot is in a single-leg state, and when running in a single-leg state, the robot dog realizes motion control through a single leg.

[0061] In an optional embodiment, the robot that completes the method for starting the swing is implemented as a three-legged robot. That is, when running in a three-legged state, the robot realizes motion control through three legs; when the starting swing action is completed, the robot is in a single-leg or bipedal state. For example: when the robot is in a single-leg state and running, the robot dog realizes motion control through a single leg. For example, the contact area between the foot of the bipedal robot and the running plane is large enough to support the robot to realize the single-leg standing state; or, when the robot is in a bipedal state and running, the robot dog realizes motion control through two legs.

[0062] In the present embodiment of the present application, a quadruped robot dog is taken as an example for illustration. That is, the robot dog correspondingly includes four wheels for movement, and the four wheels are respectively connected to the legs, and the legs are connected to the main body part of the robot dog. When operating in the quadruped state, the robot dog realizes motion control through the four legs. Optionally, when the swing-up process is completed, the robot dog is realized in the biped state, and when operating in the biped state, the robot dog realizes motion control through two legs.

[0063] It should be noted that the robot in the present application is not limited to the above structure. According to the assembly style of the multi-legged robot, the robot that can realize the motion swing-up process is used as the robot in the embodiment of the present application.

[0064] Schematically, Figure 1 is a schematic side view of a quadruped robot dog 100 provided by an exemplary embodiment of the present application. As Figure 1 shown, the quadruped robot dog 100 includes legs 110 and a main body part 120 connecting the legs 110. Among them, the legs 110 include a first leg 111 and a second leg 112.

[0065] Optionally, the second leg 112 and the first leg 111 are arranged front and back along the swing-up direction of the quadruped robot dog 100. Schematically, the first leg 111 is called the hind leg of the quadruped robot dog 100, and the second leg 112 is called the front leg of the quadruped robot dog 100. When the quadruped robot dog 100 performs the swing-up process, the second leg 112 is lifted, and the first leg 111 is used as the supporting leg after the swing-up action, so as to realize the conversion of the quadruped balance state of the quadruped robot dog 100 into the biped balance state.

[0066] In addition, the legs 110 further include bendable and movable knee joints. For example: the first leg 111 includes a bendable and movable first knee joint 131, and the second leg includes a bendable and movable second knee joint 132.

[0067] Among them, mechanical wheels are included at the knee joints. For example: the first knee joint 131 corresponding to the first leg 111 includes a first mechanical wheel; the second knee joint 132 corresponding to the second leg 112 includes a second mechanical wheel.

[0068] Schematically, as Figure 2 shown, Figure 2It is a schematic diagram of the oblique front structure of the quadruped robot dog 100 provided by an exemplary embodiment of the present application. For the quadruped robot dog 100, it includes legs and a main body part connecting the legs. Among them, the legs include two first legs 111 and two second legs 112. The first leg 111 includes a first knee joint 131 that can bend and move, and the second leg 112 further includes a second knee joint 132 that can bend and move. The first knee joint 131 correspondingly includes a first mechanical wheel; the second knee joint 132 correspondingly includes a second mechanical wheel.

[0069] Optionally, in the above Figures 1 to 2 When the quadruped robot dog 100 performs the motion starting and swinging method provided by the embodiment of the present application, the foot of the first leg 111 that supports the ground is converted into the first mechanical wheel of the first leg 111 that supports the ground. That is, after the motion starting and swinging process is realized, the first mechanical wheel corresponding to the first leg 111 is in contact with the motion plane to use the first mechanical wheel as the balance force point.

[0070] Schematically, as Figure 3 shown, it is a partial enlarged view of the first leg when the first mechanical wheel 310 is used as the balance force point. Among them, the first mechanical wheel 310 is used to maintain the balance state of the quadruped robot dog after completing the starting and swinging motion.

[0071] It should be noted that the above is only a schematic example, and the embodiments of the present application do not limit this.

[0072] Combined with the above content, the motion starting and swinging method of the robot provided by the embodiment of the present application is introduced. Figure 4 It is a flowchart of the motion starting and swinging method of the robot provided by an embodiment of the present application. This method can be implemented in the microprocessor of the robot. As Figure 4 shown, this method includes the following steps 410 to 430.

[0073] Step 410, receive a motion starting and swinging instruction.

[0074] Schematically, the motion starting and swinging instruction is used to control the robot to perform the starting and swinging motion process.

[0075] Among them, starting and swinging is used to indicate that the robot changes the contact state with the running surface and transforms from one balance state to another balance state.

[0076] In an alternative embodiment, the robot is implemented as a quadruped robot dog. The running state of the quadruped robot dog is such that its four legs are in contact with the running surface, i.e., the quadruped robot dog moves by being supported by four legs, maintaining a first balance state when in quadruped support. When the quadruped robot dog receives a starting swing motion instruction, based on this starting swing motion instruction, it controls the quadruped robot dog to change the ground support state of its four legs in contact with the running surface, causing at least one leg to leave the running surface and enter a second balance state different from the first balance state. For example, when the quadruped robot dog receives a starting swing motion instruction, based on this starting swing motion instruction, it controls two legs of the quadruped robot dog to leave the running surface, thereby entering a second balance state different from the first balance state.

[0077] Step 420: In response to the starting swing motion instruction, control the first leg of the robot to be in a suspended state, and perform a leg retraction action on the first leg. When the suspended state ends, support the ground with the first mechanical wheel at the knee joint of the first leg.

[0078] Schematically, after the robot receives the starting swing motion instruction, it controls the first leg and the second leg of the robot to perform the starting swing motion process.

[0079] Optionally, the robot adjusts the motion state of the first leg based on the starting swing motion instruction so that the first leg is in a suspended state. Schematically, the first leg correspondingly includes a first knee joint that performs bending activities. By controlling the output torque of the first knee joint, the bending situation of the first leg can be adjusted. For example: increasing the bending angle of the first leg; or, decreasing the bending angle of the first leg; or, keeping the bending angle of the first leg unchanged.

[0080] Schematically, based on the starting swing motion instruction, control the robot to adjust the output torque of the first knee joint corresponding to the first leg to increase the bending angle corresponding to the first leg until the first leg is in a suspended state.

[0081] Optionally, the second leg also correspondingly includes a second knee joint that performs bending activities. By controlling the output torque of the second knee joint, the bending situation of the second leg can be adjusted.

[0082] Schematically, based on the starting swing motion instruction, control the robot to adjust the output torque of the first knee joint corresponding to the first leg to increase the bending angle corresponding to the first leg. In addition, control the robot to adjust the torque of the second knee joint corresponding to the second leg to decrease the bending angle corresponding to the second leg until the first leg is in a suspended state, etc.

[0083] Optionally, the connection part between the robot body part and the first leg correspondingly includes a first leg joint, which is used to control the thigh part of the first leg. When adjusting the motion state of the first leg based on the motion start-up instruction, by controlling the output torque of the first leg joint, the thigh part of the first leg is controlled to bend, such as: increasing the bending angle between the first leg and the body part; or decreasing the bending angle between the first leg and the body part.

[0084] In an alternative embodiment, when the first leg is in a suspended state, the retracting action of the first leg is executed.

[0085] Among them, the retracting action is used to indicate reducing the bending angle of the first leg. Schematically, by controlling the output torque of the first knee joint corresponding to the first leg, the bending angle of the first leg is reduced, thereby realizing the retracting process of the first leg.

[0086] The suspended state is used to indicate that the first leg is separated from the running surface of the robot. For example: one end of the first leg is connected to the body part of the robot, and the other end is called the first foot. The state where the first foot is separated from the running surface is called the above-mentioned suspended state.

[0087] Optionally, after the first leg is in a suspended state, that is: after the first foot is separated from the running surface, control the output torque of the first knee joint corresponding to the first leg, so as to reduce the bending angle of the first leg. Schematically, after the first foot is separated from the running surface, the running current of the first leg corresponding to the first foot decreases rapidly. After receiving the signal of the current decrease, control the output torque of the first knee joint corresponding to the first leg, thereby realizing the retracting process of the first leg.

[0088] In an alternative embodiment, at the end of the suspended state, the first mechanical wheel at the knee joint of the first leg is supported on the ground.

[0089] Optionally, after the retracting action of the first leg is completed, the first mechanical wheel at the knee joint of the first leg is supported on the ground; or, when the retracting action of the first leg is executed, the first mechanical wheel at the knee joint of the first leg is supported on the ground, that is, after the first mechanical wheel at the knee joint of the first leg is supported on the ground, continue to perform the retracting action on the first leg.

[0090] Step 430, using the first mechanical wheel as the balanced force point, control the second leg of the robot to be suspended and stabilized to a balanced state.

[0091] Among them, the balanced force point is used to indicate the force point that supports the robot to find a balanced state during the start-up movement.

[0092] Optionally, when the first mechanical wheel lands on the running surface of the robot, the contact point between the first mechanical wheel and the running surface is used as the balanced force point. Schematically, through the balanced force point, the force condition of the robot during the process of seeking and maintaining the balanced state is determined. When the second leg of the robot is suspended, with the first mechanical wheel as the balanced force point, the suspension process of the second leg is assisted, thereby realizing the suspended state of the second leg of the robot.

[0093] For example: after the first mechanical wheel lands on the running surface, with the first mechanical wheel as the balanced force point, by adjusting the rotation of the first mechanical wheel, the stability of the robot is controlled. For example, when the main body of the robot tends to tilt backward, the first mechanical wheel is slightly rotated forward; when the main body of the robot tends to tilt forward, the first mechanical wheel is slightly rotated backward, etc., so that the main body of the robot enters a stable balanced state.

[0094] Schematically, as Figure 5 shown, it is a schematic diagram of the first leg of the robot before the swing-up movement, which includes the first mechanical wheel 510 corresponding to the first knee joint. Before the swing-up movement, the first foot 520 corresponding to the first leg is used as the balanced force point of the robot before the swing-up movement.

[0095] Schematically, as Figure 3 shown, it is a schematic diagram of the first leg of the robot after the swing-up movement, which includes the first mechanical wheel 310 corresponding to the first knee joint. After the swing-up movement, when the suspended state of the first leg ends, the first mechanical wheel 310 at the knee joint of the first leg supports the ground, and the first mechanical wheel 310 corresponding to the first leg is used as the balanced force point of the robot after the swing-up movement. That is, the first foot 320 is no longer used as the balanced force point of the robot after the swing-up movement.

[0096] Among them, the balanced force point is related to the contact point between the first leg of the robot and the running surface. In an optional embodiment, a target area is determined.

[0097] Among them, the target area is used to indicate the movement allowable area of the first leg.

[0098] Schematically, when the robot moves on the discontinuous distributed plum blossom piles, the target area is realized as the pile surface area corresponding to the plum blossom piles. When the robot performs the swing-up movement, the first leg corresponding to the robot should be within the pile surface area.

[0099] Optionally, during the process of the first upper leg and the first lower leg performing the leg retraction action, the target area is used as the supporting range of the first mechanical wheel.

[0100] In an alternative embodiment, the robot is configured with an image acquisition device. For example, a camera for image acquisition is configured on the head of the robot; alternatively, a micro camera is used as the robot's eye to perform image acquisition during the operation of the robot; or, image acquisition devices are configured at different joints of the robot to acquire images around the joints when the different joints are operating.

[0101] Optionally, a target area is determined by the image acquisition device. Schematically, the image acquisition device acquires environmental images around, and sends the acquired multiple environmental images to the corresponding processor of the robot. The processor determines the target area corresponding to the first leg based on the multiple environmental images.

[0102] For example: The first foot connected to the first leg is located on the plum blossom pile A. During the swing-up operation of the robot, the image acquisition device acquires multiple environmental images and sends the multiple environmental images to the processor. The processor identifies the multiple environmental images and identifies the environmental image corresponding to the first leg therefrom. For example, it identifies the plum blossom pile A where the first leg is located, and takes the plum blossom pile A as the above-mentioned target area.

[0103] Optionally, the processor sends the target area obtained through the image recognition process to the corresponding joint motor, so that the corresponding joint motor controls the output torque to control the first mechanical wheel to fall within the target area.

[0104] In an alternative embodiment, the robot is configured with a joint position processing device for memorizing and adjusting the positions of different joints. For example: When the robot receives a swing-up motion instruction, the first knee joint memorizes the current position information, and takes this position information as the position information corresponding to the target area. After the first leg corresponding to the first knee joint completes the leg retraction action, the first knee joint adjusts the first mechanical wheel to fall within the target area corresponding to the memorized position information based on the determined position information.

[0105] In an alternative embodiment, the robot includes a first leg joint for controlling the torque of the first upper leg.

[0106] Schematically, during the process of the first upper leg and the first lower leg performing the leg retraction action of the first leg, by controlling the torque of the first leg joint, the angle between the first upper leg and the horizontal plane is adjusted to make the first mechanical wheel fall within the target area.

[0107] Optionally, in response to the first mechanical wheel falling within the target area, the contact point between the first mechanical wheel and the target area is used as the balanced force point.

[0108] Schematically, after the second leg of the robot is suspended, the rotation of the first mechanical wheel on the running surface is adjusted to adjust the stability of the robot, so that the robot is stabilized to a balanced state. For example, when the main body of the robot stops shaking, it is determined that the robot has completed the starting swing process and entered the balanced state; or, when the shaking amplitude of the main body of the robot and the first upper leg connected to the first mechanical wheel is less than the preset shaking amplitude, it is determined that the robot has completed the starting swing process and entered the balanced state, etc.

[0109] It should be noted that the above are only schematic examples, and the embodiments of the present application are not limited thereto.

[0110] In summary, when receiving the motion starting swing instruction, control the first leg of the robot to be in a suspended state, and execute the leg retracting action of the first leg. When the suspended state ends, support the ground with the first mechanical wheel at the knee joint of the first leg of the robot, and control the second leg of the robot to be suspended to achieve the starting swing process. In the case where the area available for the robot's leg activities is small, through the suspended state and the leg retracting action during the suspended state, the robot can use the suspended process to use the first mechanical wheel after leg retraction as the ground support component instead of always using the foot as the ground support component, avoiding the starting swing process that only relies on the inertial movement of the foot, effectively solving the problem of large required running area. In addition, implementing the leg retracting action during the suspended process can also avoid the multi-process operation problem when using the calf as the support, simplifying the operation process of the robot during the starting swing action and improving the efficiency of the starting swing movement.

[0111] In an optional embodiment, the first leg includes a first knee joint that can be bent and moved, and the process of supporting the ground with the first mechanical wheel at the knee joint of the first leg of the robot is realized through the first knee joint. Schematically, as Figure 6 shown, step 420 in the above Figure 4 shown embodiment can also be implemented as steps 610 to 630 as follows.

[0112] Step 610, in response to the motion starting swing instruction, control the torque of the first knee joint to bend the first knee joint in the direction of increasing the vertical height between the first mechanical wheel and the horizontal plane until the first leg of the robot is in a suspended state.

[0113] Schematically, after receiving the starting swing motion instruction, by controlling the torque of the first knee joint, the vertical height between the first mechanical wheel and the horizontal plane is increased. For example, before receiving the starting swing motion instruction, the vertical height between the first mechanical wheel corresponding to the first knee joint and the horizontal plane is 80 cm. After receiving the starting swing motion instruction, by controlling the torque of the first knee joint, the vertical height between the first mechanical wheel and the horizontal plane is increased. For example, after receiving the starting swing motion instruction, by controlling the torque of the first knee joint, the vertical height between the first mechanical wheel and the horizontal plane is gradually increased to 100 cm.

[0114] While increasing the vertical height between the first mechanical wheel and the horizontal plane, the first knee joint is bent in the direction of increasing the vertical height between the first mechanical wheel and the horizontal plane, thereby increasing the bending angle of the first leg.

[0115] In an optional embodiment, the first leg includes a first upper leg and a first lower leg. The first upper leg and the first lower leg are connected by the first knee joint, and the first upper leg is connected to the main body part.

[0116] Schematically, as Figure 5 shown, it is a schematic diagram of the first leg of the robot before the starting swing motion. Among them, the first leg includes a first upper leg 531 and a first lower leg 532. In addition, the first upper leg 531 and the first lower leg 532 are connected by the first knee joint, and the first knee joint corresponds to a first mechanical wheel 510.

[0117] Among them, the process of increasing the bending angle of the first leg is: increasing the included angle α between the first upper leg 531 and the first lower leg 532.

[0118] Optionally, when bending the first knee joint in the direction of increasing the vertical height between the first mechanical wheel and the horizontal plane, the bending angle of the second leg is reduced until the first leg of the robot is in a suspended state.

[0119] In an optional embodiment, in response to the bending angle of the first leg reaching a preset bending angle threshold, the torque of the first knee joint is controlled to reduce the included angle between the first upper leg and the first lower leg, thereby realizing the leg retraction action of the first leg.

[0120] Step 620, control the torque of the first knee joint to reduce the included angle between the first upper leg and the first lower leg, thereby realizing the leg retraction action of the first leg.

[0121] Schematically, when the first leg is in a suspended state, by controlling the torque of the first knee joint, the first lower leg is controlled to move closer to the first upper leg, thereby reducing the included angle between the first upper leg and the first lower leg, and realizing the leg retraction action of the first leg.

[0122] Alternatively, when the first leg is in a suspended state, by controlling the torque of the first knee joint, the first upper leg and the first lower leg are controlled simultaneously, so that the first lower leg presses against the first upper leg, thereby reducing the angle between the first upper leg and the first lower leg, and realizing the leg retraction action of the first leg, etc.

[0123] In an optional embodiment, the first upper leg is equipped with a first magnetic attraction component, and the first lower leg is equipped with a second magnetic attraction component, and there is a magnetic attraction matching relationship between the first magnetic attraction component and the second magnetic attraction component.

[0124] Optionally, the first magnetic attraction component assembled on the first upper leg is implemented as a magnet, and the second magnetic attraction component assembled on the first lower leg is implemented as a metal substance that can be attracted by the magnet, such as: a metal substance containing iron, nickel, or cobalt. Since there is a magnetic attraction relationship between the magnet and the above metal substance, there is a magnetic attraction matching relationship between the first magnetic attraction component and the second magnetic attraction component.

[0125] Optionally, the first magnetic attraction component assembled on the first upper leg is implemented as the positive pole / north pole (N pole) of the magnet, and the second magnetic attraction component assembled on the first lower leg is implemented as the positive pole / south pole (S pole) of the magnet; or, the first magnetic attraction component assembled on the first upper leg is implemented as the S pole, and the second magnetic attraction component assembled on the first lower leg is implemented as the N pole. Since there is a magnetic attraction relationship between the N pole and the S pole, there is a magnetic attraction matching relationship between the first magnetic attraction component and the second magnetic attraction component, etc.

[0126] Optionally, in the suspended state, control the torque of the first knee joint to reduce the angle between the first upper leg and the first lower leg; when the angle reaches a preset angle threshold, through the mutual attraction of the first magnetic attraction component assembled on the first upper leg and the second magnetic attraction component assembled on the first lower leg, the leg retraction action of the first leg is realized.

[0127] Schematically, the preset angle threshold is preset angle data, such as: the preset angle threshold is 30°. Optionally, the angle between the first upper leg and the first lower leg reaching the preset angle threshold is used to indicate that the angle between the first upper leg and the first lower leg is less than or equal to the preset angle threshold. For example: when the angle between the first upper leg and the first lower leg is less than or equal to 30°, trigger the magnetic attraction function of the above magnetic attraction components, so that the first magnetic attraction component assembled on the first upper leg and the second magnetic attraction component assembled on the first lower leg attract each other, and the leg retraction action of the first leg is realized.

[0128] It should be noted that the above is only a schematic example, and the embodiments of the present application are not limited thereto.

[0129] In an alternative embodiment, when the included angle reaches a preset included angle threshold, the torque of the first knee joint is increased, so that the first lower leg presses closer to the first upper leg more quickly, thereby reducing the included angle between the first upper leg and the first lower leg, and achieving the leg retraction action of the first leg.

[0130] Step 630, when the suspension state ends, the first mechanical wheel at the knee joint of the first leg supports the ground.

[0131] Illustratively, after the leg retraction action of the first leg is completed, the first mechanical wheel at the knee joint of the first leg supports the ground; or, when the leg retraction action of the first leg is being performed, the first mechanical wheel at the knee joint of the first leg supports the ground.

[0132] Illustratively, as Figure 3 shown, it is a schematic diagram of the first mechanical wheel supporting the ground, which includes the first mechanical wheel 310 corresponding to the first knee joint. After the swing-up motion, when the suspension state of the first leg ends, the first foot 320 is no longer used as the contact component between the robot and the running surface, but the first mechanical wheel 310 at the knee joint of the first leg supports the ground, that is: the first mechanical wheel 310 is used as the contact component between the robot and the running surface, and the subsequent suspension process of the second leg is based on the first mechanical wheel 310.

[0133] It should be noted that the above is only an illustrative example, and the embodiments of the present application are not limited thereto.

[0134] In summary, when a swing-up motion instruction is received, the first leg of the robot is controlled to be in a suspended state, and the leg retraction action of the first leg is performed. When the suspension state ends, the first mechanical wheel at the knee joint of the first leg supports the ground, and the second leg of the robot is controlled to be suspended, thereby achieving the swing-up process. Through the above method, the robot can use the first mechanical wheel after leg retraction as the ground-supporting component during the suspension process, rather than always using the foot as the ground-supporting component, avoiding the swing-up process that relies only on the inertial motion of the foot, effectively solving the problem of a large required running area, simplifying the operation process when the robot performs the swing-up action, and improving the efficiency of the swing-up motion.

[0135] In the embodiment of the present application, the process of the first mechanical wheel touching the ground is described. In response to the motion starting and swinging instruction, the torque of the first knee joint is controlled to bend the first knee joint in the direction of increasing the vertical height between the first mechanical wheel and the horizontal plane until the first leg of the robot is in a suspended state; in the suspended state, the torque of the first knee joint is controlled to reduce the angle between the first upper leg and the first lower leg, realizing the leg retraction action of the first leg, and when the suspended state ends, the first mechanical wheel at the knee joint of the first leg is supported on the ground, so that the leg retraction process with a larger activity area is completed in the suspended state, and the leg retraction process can be realized more quickly by means of the magnetic components assembled on the first upper leg and the second lower leg. After that, the first mechanical wheel corresponding to the first knee joint after leg retraction is used as the balanced force point for the second leg during the starting and swinging process, thus effectively avoiding the starting and swinging process only through the inertial movement of the foot, and actually solving the problem of a large demand for the running area.

[0136] In an alternative embodiment, after determining that the first mechanical wheel is the balanced force point, the functions of the second leg and the first leg of the robot are comprehensively utilized to realize the suspended process of the second leg of the robot. Schematically, as Figure 7 shown, the above Figure 4 shown embodiment can also be implemented as steps 710 to 740 as follows.

[0137] Step 710, receive the motion starting and swinging instruction.

[0138] Schematically, the motion starting and swinging instruction is used to control the robot to perform the starting and swinging motion process.

[0139] The content in step 710 has been described in step 410, and will not be repeated here.

[0140] Step 720, in response to the motion starting and swinging instruction, control the first leg of the robot to be in a suspended state, and perform the leg retraction action of the first leg, and support the first mechanical wheel at the knee joint of the first leg on the ground when the suspended state ends.

[0141] Schematically, after the robot receives the motion starting and swinging instruction, the starting and swinging motion process is carried out by controlling the first leg and the second leg of the robot.

[0142] The content in step 720 has been described in step 420, and will not be repeated here.

[0143] Step 730, taking the second leg as the force application point and the first mechanical wheel as the force receiving point, control the torque of the first mechanical wheel and the torque of the second knee joint to control the second leg of the robot to be suspended.

[0144] Wherein, the second leg includes a second knee joint that can bend.

[0145] Schematically, after the first mechanical wheel at the knee joint of the first leg touches the ground, using the second leg as the force application point, for example, using the second foot where the second leg contacts the running surface of the robot as the force application point, and using the first mechanical wheel as the force receiving point corresponding to the force application point, by controlling the torque of the second knee joint, the second knee joint is bent in the direction of increasing the vertical height between the second mechanical wheel and the horizontal plane. That is: in the direction of increasing the vertical height between the second mechanical wheel and the horizontal plane, the bending angle of the second knee joint is increased.

[0146] In an alternative embodiment, the second leg includes a second upper leg and a second lower leg. The second upper leg and the second lower leg are connected by a second knee joint, and the second upper leg is connected to the main body part.

[0147] Schematically, increasing the bending angle of the second knee joint is used to indicate increasing the included angle between the second upper leg and the second lower leg.

[0148] In an alternative embodiment, a first included angle between the second upper leg and the second lower leg, and a second included angle between the second upper leg and the main body part are determined.

[0149] Schematically, during the process of bending the second knee joint in the direction of increasing the vertical height between the second mechanical wheel and the horizontal plane, at least the following two factors need to be considered: First, to ensure that the robot can maintain a relatively stable balance state at the end of the swing-up motion, it is necessary to plan the inclination angle (theta) of the robot during the swing-up motion, where the inclination angle is used to indicate the included angle between the main body part of the robot and the horizontal plane. Second, during the swing-up motion, the second leg and the first mechanical wheel need to increase the resistance to avoid slipping, otherwise there will be force leakage during the swing-up motion, affecting the effect of the swing-up motion.

[0150] Optionally, during the process of bending the second knee joint in the direction of increasing the vertical height between the second mechanical wheel and the horizontal plane, a first included angle between the second upper leg and the second lower leg, and a second included angle between the second upper leg and the main body part are determined.

[0151] For example: through the corresponding processor of the robot, the first included angle between the second upper leg and the second lower leg, and the second included angle between the second upper leg and the main body part are obtained in real time; or, through the corresponding processor of the robot, the first included angle between the second upper leg and the second lower leg, and the second included angle between the second upper leg and the main body part are obtained periodically, etc.

[0152] In an alternative embodiment, the process of obtaining the first included angle and the second included angle for any one time is described.

[0153] Schematically, if the total duration T (e.g., seconds) of the first leg's swing-up motion is designed, then the inclination angle θ (e.g., radians) of the robot must be rotated from the initial angle θ0 before the start of the swing-up motion to the final angle θ after the end of the swing-up motion within the duration T. f = π / 2. In addition, at the start and end of the swing-up motion, the angular velocity of the robot's inclination angle

[0154] In an optional embodiment, the desired inclination angle trajectory θ of the robot during the swing-up process is obtained through cubic spline interpolation. ref (t).

[0155] Optionally, during the robot's swing-up motion, an additional inclination angle corresponding to a certain moment of the robot is set. For example: it is set that at t = T / 2, θ ref (t) = π / 3. Schematically, as Figure 8 shown, it is a schematic diagram of the function of the sample curve interpolation. The horizontal axis represents the time situation of the robot during the swing-up process; the vertical axis represents the position situation of the center of gravity of the robot during the swing-up process.

[0156] Among them, the function p(t) is used to represent the cubic spline interpolation situation. Through the Figure 8 shown function image, the cubic spline interpolation of the function p(t) is calculated, including point A 810, point B 820, and point C 830.

[0157]

[0158] Among them, p0, p1, and p2 are used to indicate the distance of the center of gravity of the robot from the horizontal plane; t0, t1, and t2 are used to indicate the time situation of the robot during the swing-up process; v0, v2 are used to indicate the running speed of the robot; a0, a1, a2, a3, b0, b1, b2, b3 are used to indicate the coefficients of the spline curve.

[0159] In addition, after designing the trajectory of the robot's body inclination angle, it is necessary to calculate the motion trajectories of the corresponding first leg and the second leg to achieve the follow-up of the body inclination angle. Schematically, as Figure 9 shown, it is a schematic diagram of the acquisition situation of the first angle 910 and the second angle 920 during any acquisition of the first angle and the second angle.

[0160] Since during the robot's swing-up motion, the distances of the main body part, the total length of the first leg, and the total length of the second leg are fixed, and based on the above process, the body inclination angle θ of the robot can be determined. Therefore, the first angle 910q between the second upper leg and the second lower leg f1 and the second angle 920q between the second upper leg and the main body part can be calculated based on the geometric relationship.f2 and the third included angle q between the main body part and the horizontal plane h1 .

[0161] Optionally, due to the mechanical structure design of the robot, after taking the first mechanical wheel as the balanced stress point, the angle q between the first upper leg and the second upper leg corresponding to the first leg h1 is fixed. For example: q h1 = π / 6 and no processing is required during the swing-up process.

[0162] In an optional embodiment, a rectangular coordinate system is established with the contact point between the first mechanical wheel and the running surface of the robot as the origin. It can be known therefrom that: q h1 = θ.

[0163] Optionally, the second upper leg and the main body part correspondingly include a hip joint. Based on geometric relationships, the coordinate representation of the hip joint is determined as:

[0164] p fh = (x fh , y fh ) = (l body cos(θ), r wheel + l thigh + l body sin(θ))

[0165] wherein, x fh , y fh are used to indicate the abscissa value and the ordinate value of p fh ; l body is used to indicate the length of the main body part; r wheel is used to indicate the radius of the first foot; l thigh is used to indicate the length of the second upper leg.

[0166] In addition, the coordinates of the contact point between the second lower leg and the running surface (i.e., the landing point of the second lower leg) are represented as:

[0167] p ff = (x ff , y fl ) = (l gap , 0)

[0168] wherein, x ff , y ff are used to indicate the abscissa value and the ordinate value of p ff ; l gap is used to indicate the distance between the landing point of the second lower leg and the origin.

[0169] Based on p fh and p ff, determine the distance between the hip joint and the landing point of the second lower leg, that is:

[0170] l fh，ff = ((x ff - x fh ) 2 + (y ff - y fh ) 2 ) 1 / 2

[0171] Based on l thigh , l shank and l fh，ff , the second included angle 920q between the second upper leg and the main body part can be obtained by the cosine theorem f2 .

[0172]

[0173] Among them, l thigh is used to indicate the length of the first upper leg; l shank is used to indicate the length of the first lower leg.

[0174] In addition, determine the first included angle 910q between the second upper leg and the second lower leg f1 .

[0175]

[0176] It should be noted that the above is only a schematic example, and the embodiments of the present application are not limited thereto.

[0177] In an alternative embodiment, the control torque for the second leg to execute the suspended state is determined based on the first included angle and the second included angle.

[0178] In an alternative embodiment, the first included angle and the second included angle are monitored and processed to determine the control torque for the second leg to execute the suspended state.

[0179] Optionally, after obtaining the above included angles such as the first included angle and the second included angle, the corresponding angular velocity is obtained by differentiation. Finally, the calculated included angles such as the first included angle and the second included angle and the calculated angular velocity are sent to the corresponding joint motors, so that the motors can follow the included angles and the angular velocity, and the swing-up action of the second leg can be assisted.

[0180] Schematically, through additional particle dynamics control, by the pose feedback of the robot main body part and the leg part, the control torque corresponding to each motor is calculated, including the control torque when the second leg executes the suspended state.

[0181] In an alternative embodiment, the second leg of the robot is suspended by controlling the torque.

[0182] Schematically, after determining the control torque, the torque information corresponding to the control torque is sent to the motor that controls the suspension of the second leg, so that the motor controls the suspension of the second leg of the robot through the control torque.

[0183] Step 740, stabilize the robot to a balanced state by controlling the rotation of the first mechanical wheel.

[0184] Wherein, the balanced state is used to indicate the balanced state after completing the movement start-up instruction.

[0185] Schematically, after suspending the second leg of the robot, by controlling the rotation of the first mechanical wheel, the first upper leg is adjusted so that the first upper leg can be as stable as possible and support the second leg and the main body part.

[0186] In an alternative embodiment, by controlling the rotation of the first mechanical wheel, the angle between the first upper leg and the horizontal plane is adjusted; wherein, when the angle between the first upper leg and the horizontal plane reaches a preset adjustment condition, the robot is stabilized to a balanced state.

[0187] Schematically, the preset adjustment condition is used to indicate a preset adjustment condition. When the angle between the first upper leg and the horizontal plane reaches the preset adjustment condition, it means that the robot enters a balanced state. For example, the preset adjustment condition is that the first upper leg can support the second leg and the main body part, and the angle between the first upper leg and the horizontal plane is within a preset angle range. For example, the preset angle range is 5°, which means that when the first upper leg can support the second leg and the main body part, and the angle with the horizontal plane is less than or equal to 5°, it means that the robot enters a balanced state.

[0188] Or, the preset adjustment condition is that the first upper leg can support the second leg and the main body part, and the first upper leg is perpendicular to the horizontal plane, which means that when the first upper leg can support the second leg and the main body part, and is perpendicular to the horizontal plane, it means that the robot enters a balanced state, etc.

[0189] In an alternative embodiment, take the robot implemented as a quadruped robot dog as an example. When two legs of the quadruped robot dog leave the running surface, the quadruped robot dog is supported by the remaining two legs. When the quadruped robot dog enters a balanced state through the remaining two legs, the balanced state is called a two-wheel balanced state. That is, at this time, the body of the quadruped robot dog is vertical, the front legs are suspended, and it moves back and forth on the ground through the drive wheels at the knee joints of the hind legs, so as to maintain the balanced state.

[0190] Schematically, after the second leg is in a suspended state, without considering the constraints of the geometric form, the first leg is further rotated to be in a straight line with the main body part of the robot by adjusting the knee joint.

[0191] Optionally, while adjusting the first upper leg through the first mechanical wheel to make the robot stable to a balanced state, the second leg is rotated to the form required in the balanced state; or, after adjusting the first upper leg through the first mechanical wheel to make the robot stable to a balanced state, the second leg is rotated to the form required in the balanced state, etc.

[0192] Schematically, after the robot is stable to a balanced state, if the required form of the second leg is in a bent state in front of the main body part, the second leg is bent and placed in front of the main body part; or, when the robot is stable to a balanced state, if the required form of the second leg is in a straight state, the second leg is straightened, etc.

[0193] Schematically, please refer to Figure 10 , which is the corresponding motor control module of the robot. First, obtain the desired motor angle. After subtracting the position feedback output by the motor 1010 from the desired motor angle, it is input to the position loop controller 1020; then, after adding the output of the position loop controller 1020 to the desired motor angle and then subtracting the speed feedback fed back by the motor 1010, the result is input to the speed loop controller 1030; then, after subtracting the current feedback fed back by the motor 1010 from the output of the speed loop controller 1030, it is input to the current loop controller 1040; then, after adding the output of the current loop controller 1040 to the feedforward torque, it is input to the corresponding motor drive 1050, and the result of the motor drive is input to the motor 1010, so that the motor 1010 outputs the result, and thus each joint of the robot is controlled through the corresponding click of the robot, such as: the motion control process, the swing-up motion process, etc.

[0194] It should be noted that the above is only a schematic example, and the embodiments of the present application are not limited thereto.

[0195] In summary, when receiving the motion swing-up instruction, control the first leg of the robot to be in a suspended state, and execute the leg retraction action of the first leg. When the suspended state ends, support the ground with the first mechanical wheel at the knee joint of the first leg, and control the second leg of the robot to be suspended to achieve the swing-up process. Through the above method, the robot can use the first mechanical wheel after leg retraction as the ground support component during the suspended process, rather than always using the foot as the ground support component, avoiding the swing-up process that only relies on the inertial movement of the foot, effectively solving the problem of large required running area, simplifying the operation process of the robot during the swing-up action, and improving the efficiency of the swing-up motion.

[0196] In the embodiment of the present application, the suspension process of the second leg is introduced. After taking the first mechanical wheel as the balanced force point, with the second leg as the force application point and the first mechanical wheel as the force receiving point, the torque of the second knee joint is controlled to bend the second knee joint in the direction of increasing the vertical height between the second mechanical wheel and the horizontal plane; the first included angle between the second upper leg and the second lower leg, and the second included angle between the second upper leg and the main body part are determined; based on the first included angle and the second included angle, the control torque for the second leg to execute the suspended state is determined; thus, by controlling the torque, the second leg of the robot is controlled to be suspended. Through the monitoring process of the first included angle and the second included angle, the motion state of the robot during the swing-up process can be more clearly understood, and thus the operation of the robot can be adjusted more accurately by controlling the torque. In addition, the first upper leg can also be adjusted by the first mechanical wheel, so that the robot can enter the balanced state after the swing-up process more quickly.

[0197] In an alternative embodiment, taking the realization of the robot as a quadruped robot dog as an example, when the quadruped robot dog is on a pile surface with a relatively small movable area, that is: the running surface of the quadruped robot dog is a discontinuous arrangement of pile surfaces. Through the process of the first mechanical wheel supporting the ground, the swing-up process of the robot can be more efficiently realized in the running scenario of the discontinuous arrangement of pile surfaces. Schematically, as Figure 11 shown, the above Figure 4 shown embodiment can also be implemented as the following steps 1110 to 1150.

[0198] Step 1110, quadruped standing state.

[0199] Schematically, as Figure 12 shown, it is the initial state of the quadruped robot dog 1210. In addition, the legs of the quadruped robot dog 1210 are located on the pile surface 1220 (such as: intermittently arranged plum blossom piles), and the four legs respectively fall on different pile surfaces.

[0200] When the quadruped robot dog 1210 moves forward or backward, it is necessary to accurately place the four legs on other pile surfaces without detaching the legs from the pile surface.

[0201] When the quadruped robot dog 1210 performs the swing-up motion, it is necessary to ensure that the leg used as the swing-up support does not fall off the pile surface where it is located, so as to avoid the phenomenon of swing-up failure, that is: it is necessary to maintain the stability of the leg used as the swing-up support within the limited activity range.

[0202] During the swing-up process, it includes the following two parts: (1) the hind leg support rotates to the rear wheel support; (2) the rear wheel support swings up.

[0203] (1) Hind leg support to rear wheel support

[0204] Optionally, during the process of transitioning from hind-leg support to rear-wheel support, it is implemented as the following steps 1121 to 1126.

[0205] Step 1121, squatting state.

[0206] Optionally, the squatting state is used as a preparatory state for the quadruped robot dog to perform the swing-up process. Schematically, as Figure 13 shown, when the quadruped robot dog 1310 starts the swing-up process, it enters the squatting state, thereby leaving more leg elongation space for the subsequent movement of the first leg and assisting the first leg to enter the suspended state.

[0207] Optionally, after evaluation and analysis, if it is determined that the quadruped robot dog can also complete the subsequent actions without squatting, then the squatting action is not performed, that is: the squatting action is not necessary.

[0208] Step 1122, extend the first leg and retract the second leg to make the first leg suspended.

[0209] Schematically, as Figure 14 shown, the quadruped robot dog 1410 includes a first leg 1420 as the hind leg and a second leg 1430 as the front leg. When the hind leg (the first leg 1420) is used as the supporting leg after the swing-up action, the above swing-up action is used to indicate the action of lifting the front leg (the second leg 1430).

[0210] During the swing-up process of the second leg 1430, control the quadruped robot dog 1410 to extend the first leg 1420 (kick the hind leg), that is: increase the bending angle of the knee joint corresponding to the first leg 1420; and control the quadruped robot dog 1410 to retract the second leg 1430 (retract the front leg), that is: decrease the bending angle of the knee joint corresponding to the second leg 1430, so that the first leg 1420 enters the suspended state.

[0211] Similarly, when the front leg is used as the supporting leg after the swing-up action, the above swing-up action is used to indicate the action of lifting the hind leg. The embodiments of the present application do not limit this.

[0212] Step 1123, rotate the first lower leg of the first leg so that the first lower leg presses against the first upper leg.

[0213] Schematically, as Figure 15 shown, the first leg 1520 of the quadruped robot dog 1510 enters the suspended state, where the first leg 1520 of the quadruped robot dog 1510 includes a first upper leg 1521 and a first lower leg 1522. Control the robot to rotate the first lower leg 1522, thereby reducing the angle between the first lower leg 1522 and the first upper leg 1521, so that the first lower leg 1522 presses against the first upper leg 1521.

[0214] Step 1124, rotate the first upper leg of the first leg so that the first mechanical wheel lands on the pile surface.

[0215] Schematically, as Figure 16 shown, after the first lower leg of the quadruped robot dog 1610 is pressed against the first upper leg, control the first mechanical wheel 1620 corresponding to the first knee joint connecting the first lower leg and the first upper leg to land on the pile surface.

[0216] Step 1125, the first mechanical wheel lands on the pile surface.

[0217] Optionally, as Figure 16 shown, the pile surface 1630 is the pile surface where the first leg of the quadruped robot dog 1610 lands before performing the swing-up action; or, the pile surface 1630 is the newly landed pile surface during the swing-up action of the quadruped robot dog 1610, etc.

[0218] Step 1126, adjust the angles of each joint to make the quadruped robot dog horizontal.

[0219] Schematically, as Figure 16 shown, after the first mechanical wheel 1620 lands on the pile surface 1630, by adjusting the angle of the first knee joint corresponding to the first mechanical wheel, and adjusting the angles of the joints corresponding to the second leg, etc., make the quadruped robot dog horizontal, that is: make the main body part of the quadruped robot dog horizontal with the horizontal plane.

[0220] It should be noted that the above is only a schematic example, and the embodiments of the present application are not limited thereto.

[0221] Step 1130, control the linear motor to convert the first leg drive to the first mechanical wheel drive.

[0222] Schematically, as Figures 1 to 2 shown, it is a schematic structural diagram of the quadruped robot dog.

[0223] For the legs of the quadruped robot dog, each leg includes three motor drives. As Figure 5 shown, taking the partial enlarged schematic diagram of the first leg as an example for illustration, the three motor drives are the side swing motor 530 (ab / ad motor), the hip motor 540 (the first leg motor - hip motor), and the knee motor 550 (knee motor).

[0224] Among them, the ab / ad motor is used to drive the side swing of the whole leg to rotate, the hip motor is used to drive the rotation of the upper leg (the first upper leg or the second upper leg), the knee motor drives the rotation of the lower leg (the first lower leg or the second lower leg) through the belt 560, and the mechanical wheel at the knee joint is a non-driven passive wheel.

[0225] In an alternative embodiment, when the first leg serves as the supporting leg after the swing-up motion ends, the first leg includes a first upper leg and a first lower leg. The first upper leg and the first lower leg are connected by a first mechanical wheel knee joint, and the first upper leg is connected to the main body part.

[0226] Optionally, an insertion rod is included in the first lower leg. The insertion rod is controlled by a linear motor to adjust the driving connection state between the first leg and the first knee joint.

[0227] Wherein, the linear motor is used to indicate a motor that converts electrical energy into linear motion mechanical energy, the insertion rod is used to indicate a mechanical component controlled by the linear motor. The driving connection state is used to indicate that the insertion rod is connected to the corresponding wheel groove of the groove plate.

[0228] In an alternative embodiment, a groove plate is included in the first knee joint, and at least one wheel groove corresponds to the groove plate.

[0229] Optionally, the linear motor configured in the first lower leg can control the insertion rod to perform an extension process and a retraction process. Wherein, the extension process is used to indicate inserting the insertion rod controlled by the linear motor into the corresponding wheel groove of the groove plate; the retraction process is used to indicate retracting the insertion rod controlled by the linear motor from the corresponding wheel groove of the groove plate.

[0230] Optionally, in response to controlling the insertion rod to retract from the wheel groove, the driving connection state between the first knee joint and the first lower leg is cancelled. That is: based on the retraction process, the driving connection state between the first knee joint and the first lower leg is cancelled.

[0231] Schematically, as Figure 5 shown, when the first leg serves as the supporting leg after the swing-up motion ends, relative to the second leg, a linear motor 580 is included in the first lower leg 532 of the first leg. The linear motor 580 is used to control the adjustment of the supporting state of the first leg and the first mechanical wheel through the insertion rod 581.

[0232] Schematically, as Figure 17 shown, for Figure 5 the partial enlarged schematic diagram of the first mechanical wheel (the area shown by the dashed box) in the partial enlarged schematic diagram of the first leg shown.

[0233] In Figure 17It includes: a first mechanical pulley 1710, a groove plate 1720, a linear actuator 1730 disposed on the first lower leg, an insertion rod 1731 controlled by the linear actuator 1730, a first magnetic component 1740 disposed on the first upper leg, a second magnetic component 1750 disposed on the first lower leg, and a belt 1760. Among them, the groove plate 1720 correspondingly includes a plurality of pulley grooves 1721.

[0234] When the linear actuator 1730 controls the insertion rod 1731 to perform an extension process, the insertion rod 1731 controlled by the linear actuator is inserted into the corresponding pulley groove 1721 of the groove plate 1720. Then, when the knee motor (such as Figure 5 shown as the middle knee motor 550 shown in the figure, Figure 17 not shown in the figure) drives the first mechanical pulley through the belt 1760, it simultaneously drives the rotation of the first lower leg.

[0235] Schematically, as Figure 18 shown, it is a schematic diagram of the first leg after the linear actuator controls the insertion rod to perform a retraction process. It includes the area corresponding to the first mechanical pulley 1810 (shown as a dotted box). For easy observation, the area corresponding to the first mechanical pulley 1810 is locally enlarged to obtain Figure 19 the locally enlarged schematic diagram of the first mechanical pulley shown.

[0236] In Figure 19 it includes: a groove plate 1910, which correspondingly includes a plurality of pulley grooves 1911, a linear actuator 1920 disposed on the first lower leg, an insertion rod 1921 controlled by the linear actuator 1920, a first magnetic component disposed on the first upper leg, a second magnetic component disposed on the first lower leg, and a belt 1930.

[0237] Optionally, when the linear actuator 1920 controls the insertion rod 1921 to perform a retraction process, the insertion rod 1921 controlled by the linear actuator 1920 is retracted from the corresponding pulley groove 1911 of the groove plate 1910, thereby canceling the driving connection state between the first mechanical pulley and the first lower leg. At this time, the knee motor (such as Figure 3 shown as the middle knee motor 340 shown in the figure, Figure 19 not shown in the figure) can only drive the first mechanical pulley and cannot drive the first lower leg.

[0238] In addition, through the magnetic attraction matching relationship between the first magnetic attraction component and the second magnetic attraction component, the first upper leg and the second lower leg attract each other. That is: by arranging an insertion rod in the first lower leg, based on the control of the insertion rod by the linear motor, the wheeled state (supported by the first mechanical wheel) and the legged state (supported by the first foot corresponding to the first leg) of the first leg can be switched.

[0239] (2) Rear wheel support and starting to swing

[0240] Optionally, in the process of the hind leg support turning to the rear wheel support, it is implemented as the following steps 1141 to 1142.

[0241] Step 1141, extend the second leg and rotate the first leg to start the swing-up process of the second leg.

[0242] Schematically, as Figure 20 shown, after the quadruped robot dog is horizontal, extend the second leg 2010, that is: increase the angle between the second upper leg and the second lower leg (the bending angle at the knee joint), and control the rotation of the first mechanical wheel, so as to control the rotation of the first upper leg corresponding to the first leg, so that the quadruped robot dog presents an upward-tilting action posture and starts the swing-up process of the second leg.

[0243] Step 1142, after the second leg leaves the ground, rotate the second leg to the desired posture and make the first lower leg of the first leg rotate to be in a straight line with the main body part.

[0244] Schematically, as Figure 21 shown, after the second leg 2110 leaves the ground, adjust the posture of the second leg 2110 and rotate the second leg 2110 to the desired posture. Among them, the desired posture is used to indicate the preset posture of the second leg 2110, such as: the desired posture is the posture of the second upper leg and the second lower leg presenting a 30° inclination angle in front of the main body part, etc.

[0245] It should be noted that the above is only a schematic example, and the embodiments of the present application are not limited thereto.

[0246] Step 1150, when the main body part is basically vertical, the swing-up process is completed.

[0247] Schematically, as Figure 22As shown, after the second leg 2210 leaves the first pile surface 2220, the hip joint 2230 is rotated to be in a straight line with the main body by controlling the output torque of the corresponding joint of the first leg, that is, the main body is basically vertical to the second pile surface 2240, thereby completing the swinging process of the second leg. Optionally, in the process of making the main body basically vertical, the position of the first mechanical wheel 2250 on the second pile surface 2240 can be slightly adjusted, and the above-mentioned swinging process is completed under the premise that the first mechanical wheel 2250 does not leave the second pile surface 2240.

[0248] It is worth noting that the above are merely illustrative examples and are not limited to the embodiments of the present application.

[0249] The above process is an introduction to the process of simultaneously converting the two first legs and simultaneously lifting the second legs, taking a four-legged robot dog as an example. That is, the above content introduces the process of converting the first foot support corresponding to the first leg to the first mechanical wheel support corresponding to the first leg, and the two second legs are converted simultaneously, and the visual effect of the switching process is relatively natural.

[0250] In an optional embodiment, the robot motion swinging method provided in the embodiment of the present application can also be implemented in a divided manner, that is, each first leg is respectively transformed from the first foot support to the first mechanical wheel support.

[0251] Optionally, taking a four-legged robot dog as an example, the process of converting the two first legs from foot support to wheel support is described. Figure 23 As shown, steps 1121 to 1126 shown in the above process of converting rear leg support to rear wheel support can also be implemented as the following steps 2310 to 2370.

[0252] Step 2310, four-legged standing state.

[0253] Indicatively, Figure 24 As shown, the four-legged robot dog 2410 is in a four-legged standing state.

[0254] Step 2320, the main body moves to the right front so that the projection of the center of gravity on the ground is located within the triangle formed by the front foot and the right rear foot.

[0255] Indicatively, Figure 25 As shown, the main body 2511 of the quadruped robot dog 2510 moves to the right front to provide the quadruped robot dog 2510 with a larger movement space, thereby facilitating the quadruped robot dog 2510 to lift its hind legs.

[0256] Step 2330, lift your left hind leg and press your calf against your thigh.

[0257] Schematically, for example Figure 26 As shown, lift the left hind leg 2620 of the quadruped robot dog 2610, and press the calf of the left hind leg 2620 against the thigh of the left hind leg 2620, that is: reduce the angle between the calf and the thigh of the left hind leg 2620.

[0258] Step 2340, the main body returns to the initial position, and the left hind thigh is retracted to a state where the wheel can touch the ground.

[0259] Schematically, for example Figure 27 As shown, after the calf of the left hind leg of the quadruped robot dog 2710 is pressed against the thigh, the main body part 2720 returns to the initial position, and the left hind thigh is retracted to a state where the wheel 2730 can touch the ground, so that the wheel 2730 corresponding to the left hind thigh supports the ground.

[0260] Step 2350, the main body part moves forward to the left, so that the projection of the center of gravity on the ground is located within the triangle formed by the front foot and the right rear wheel.

[0261] Schematically, for example Figure 28 As shown, after the wheel 2810 corresponding to the left hind thigh supports the ground, the main body part 2820 of the quadruped robot dog 2820 is moved forward to the left, so that the projection of the center of gravity on the ground is located within the triangle formed by the front foot and the right rear wheel, facilitating the wheel 2830 corresponding to the right hind thigh to enter the state of supporting the ground.

[0262] Step 2360, lift the right hind leg and press the calf against the thigh.

[0263] Schematically, for example Figure 29 As shown, lift the right hind leg 2920 corresponding to the quadruped robot dog 2910, and control the calf of the right hind leg 2920 to press against the thigh of the right hind leg 2920, that is: reduce the angle between the calf and the thigh of the right hind leg 2920.

[0264] Step 2370, the main body part returns to the initial state, and the right hind thigh is retracted to a state where the wheel can touch the ground.

[0265] Schematically, for example Figure 30 As shown, after the calf of the right hind leg of the quadruped robot dog 3010 is pressed against the thigh, the main body part 3020 returns to the initial position, and the right hind thigh is retracted to a state where the wheel 3030 can touch the ground, so that the wheel 3030 corresponding to the right hind thigh supports the ground.

[0266] It should be noted that the above is only a schematic example, and the embodiments of the present application are not limited thereto.

[0267] In summary, when the available movement area for the robot's legs is small, through the suspended state and the leg retraction action in the suspended state, the robot can use the first mechanical wheel after leg retraction as the ground-supporting component during the suspension process instead of always using the foot as the ground-supporting component, avoiding the swing-up process that relies solely on the inertial movement of the foot. This effectively solves the problem of large running area requirements, enables the robot to overcome the difficulty of swing-up in harsh environments, and also makes good use of the robot to achieve high-precision processing. In addition, performing the leg retraction action during the suspension process can also avoid the multi-process operation problem when using the calf as a support, simplifies the operation process of the robot during the swing-up action, and improves the efficiency of the swing-up movement.

[0268] Figure 31 FIG. 4 is a structural block diagram of a movement swing-up device of a robot provided by an exemplary embodiment of the present application. Taking the case where the device is arranged in the robot as an example, the robot includes legs and a main body part connecting the legs. The legs include a knee joint that can bend, and a mechanical wheel is included at the knee joint; the legs include a first leg and a second leg, and the first leg and the second leg are arranged front and back along the swing-up direction of the robot; as Figure 31 shown, the device includes:

[0269] An instruction receiving module 3110, configured to receive a movement swing-up instruction;

[0270] A first control module 3120, configured to, in response to the movement swing-up instruction, control the first leg of the robot to be in a suspended state, and perform a leg retraction action of the first leg, and when the suspended state ends, support the ground with the first mechanical wheel at the knee joint of the first leg;

[0271] A second control module 3130, configured to use the first mechanical wheel as a balanced force point, control the second leg of the robot to be suspended, and stabilize it to a balanced state.

[0272] In an optional embodiment, the first leg includes a first knee joint that can bend;

[0273] The first control module 3120 is further configured to, in response to the movement swing-up instruction, control the torque of the first knee joint to bend the first knee joint in a direction to increase the vertical height between the first mechanical wheel and the horizontal plane until the first leg of the robot is in a suspended state.

[0274] In an optional embodiment, the first leg includes a first upper leg and a first lower leg, the first upper leg and the first lower leg are connected by the first knee joint, and the first upper leg is connected to the main body part;

[0275] The first control module 3120 is further configured to control the torque of the first knee joint, reduce the angle between the first upper leg and the first lower leg, and implement the leg retraction action of the first leg.

[0276] In an alternative embodiment, the first upper leg is equipped with a first magnetic component, the first lower leg is equipped with a second magnetic component, and there is a magnetic matching relationship between the first magnetic component and the second magnetic component;

[0277] The first control module 3120 is further configured to control the torque of the first knee joint to reduce the angle between the first upper leg and the first lower leg; when the angle reaches a preset angle threshold, the first magnetic component assembled on the first upper leg and the second magnetic component assembled on the first lower leg attract each other to implement the leg retraction action of the first leg.

[0278] In an alternative embodiment, the first leg includes a first upper leg and a first lower leg. The first upper leg and the first lower leg are connected by a first knee joint that can bend, and the first upper leg is connected to the main body part;

[0279] The first control module 3120 is further configured to determine a target area, where the target area is used to indicate the movement allowable area of the first leg; during the process of the first upper leg and the first lower leg performing the leg retraction action, the contact point of the target area is used as the grounding range of the first mechanical wheel.

[0280] In an alternative embodiment, the robot includes a first leg joint, and the first leg joint is used to control the torque of the first upper leg;

[0281] The first control module 3120 is further configured to, during the process of the first upper leg and the first lower leg performing the leg retraction action, adjust the angle between the first upper leg and the horizontal plane by controlling the torque of the first leg joint, and make the first mechanical wheel fall within the target area; in response to the first mechanical wheel falling within the target area, the contact point between the first mechanical wheel and the target area is used as the balanced force point.

[0282] In an alternative embodiment, the first leg includes a first upper leg and a first lower leg. The first upper leg and the first lower leg are connected by the first knee joint, and the first upper leg is connected to the main body part;

[0283] An insertion rod is included in the first lower leg, and the insertion rod is controlled by a linear motor to adjust the driving connection state between the first leg and the first knee joint.

[0284] In an alternative embodiment, a groove plate is included in the first knee joint, and at least one wheel groove corresponds to the groove plate;

[0285] The second control module 3130 is further configured to cancel the driving connection state between the first knee joint and the first lower leg in response to the insertion rod retracting from the wheel groove.

[0286] In an alternative embodiment, the second leg includes a second upper leg and a second lower leg. The second upper leg and the second lower leg are connected by the bendable second knee joint, and the second upper leg is connected to the main body part;

[0287] The second control module 3130 is further configured to control the torque of the first mechanical wheel and the torque of the second knee joint with the second leg as the force application point and the first mechanical wheel as the force receiving point, so as to control the second leg of the robot to be suspended.

[0288] In an alternative embodiment, the second control module 3130 is further configured to control the rotation of the first mechanical wheel to make the robot enter the balance state, and the balance state is used to indicate the balance state after the motion start-swing instruction is completed.

[0289] In an alternative embodiment, the second control module 3130 is further configured to adjust the angle between the first upper leg and the horizontal plane by controlling the rotation of the first mechanical wheel; wherein, when the angle between the first upper leg and the horizontal plane reaches a preset adjustment condition, the robot enters the balance state.

[0290] In summary, when the available activity area of the robot's leg is small, through the suspended state and the leg retraction action in the suspended state, the robot can use the first mechanical wheel after leg retraction as the ground-supporting component during the suspension process, rather than always using the foot as the ground-supporting component, avoiding the start-swing process that only relies on the inertial movement of the foot, effectively solving the problem of large demand for the running area. In addition, realizing the leg retraction action during the suspension process can also avoid the multi-process operation problem when the calf is used as the support, simplifying the operation process of the robot during the start-swing action and improving the efficiency of the start-swing motion.

[0291] It should be noted that: the motion starting and swinging device of the robot provided in the above embodiments is only illustrated by dividing the above functional modules. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the motion starting and swinging device of the robot provided in the above embodiments belongs to the same concept as the embodiment of the motion starting and swinging method of the robot. For the specific implementation process, please refer to the method embodiment and will not be elaborated here.

[0292] Figure 32 FIG. shows a block diagram of an electronic device 3200 provided by an exemplary embodiment of the present application. The electronic device 3200 may be a portable mobile terminal, such as: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III), an MP4 (Moving Picture Experts Group Audio Layer IV) player, a laptop computer or a desktop computer. The electronic device 3200 may also be referred to by other names such as user equipment, portable terminal, laptop terminal, desktop terminal, etc. In the embodiments of the present application, the electronic device 3200 is implemented as a control device part in a wheel-legged robot.

[0293] Generally, the electronic device 3200 includes: a processor 3201 and a memory 3202.

[0294] The processor 3201 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. The processor 3201 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor 3201 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the wake state, also known as the CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 3201 may be integrated with a GPU (Graphics Processing Unit), and the GPU is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 3201 may further include an AI (Artificial Intelligence) processor, and the AI processor is used to process computational operations related to machine learning.

[0295] The memory 3202 may include one or more computer-readable storage media, and the computer-readable storage media may be non-transitory. The memory 3202 may further include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash storage devices. In some embodiments, the non-transitory computer-readable storage media in the memory 3202 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 3201 to implement the robot's motion starting and swinging method provided in the method embodiments of the present application.

[0296] In some embodiments, the electronic device 3200 may further optionally include: a peripheral device interface 3203 and at least one peripheral device. The processor 3201, the memory 3202, and the peripheral device interface 3203 may be connected through a bus or signal lines. Each peripheral device may be connected to the peripheral device interface 3203 through a bus, signal lines, or a circuit board. Specifically, the peripheral devices include at least one of a radio frequency circuit 3204, a display screen 3205, a camera assembly 3206, an audio circuit 3207, and a power supply 3209.

[0297] The peripheral device interface 3203 can be used to connect at least one I / O (Input / Output) related peripheral device to the processor 3201 and the memory 3202. In some embodiments, the processor 3201, the memory 3202, and the peripheral device interface 3203 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 3201, the memory 3202, and the peripheral device interface 3203 can be implemented on separate chips or circuit boards, and this embodiment does not limit this.

[0298] The radio frequency circuit 3204 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 3204 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency circuit 3204 converts an electrical signal into an electromagnetic signal for transmission, or converts the received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 3204 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so on. The radio frequency circuit 3204 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to: the World Wide Web, a metropolitan area network, an intranet, each generation of mobile communication networks (2G, 3G, 4G, and 5G), a wireless local area network, and / or a Wi-Fi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 3204 can also include a circuit related to NFC (Near Field Communication), and this application does not limit this.

[0299] The display screen 3205 is used to display the UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 3205 is a touch display screen, the display screen 3205 also has the ability to collect touch signals on or above the surface of the display screen 3205. The touch signal can be input to the processor 3201 as a control signal for processing. At this time, the display screen 3205 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one display screen 3205, which is disposed on the front panel of the electronic device 3200; in other embodiments, there may be at least two display screens 3205, which are respectively disposed on different surfaces of the electronic device 3200 or are in a folding design; in other embodiments, the display screen 3205 may be a flexible display screen, which is disposed on the curved surface or the folding surface of the electronic device 3200. Even further, the display screen 3205 can also be set to an irregular non-rectangular shape, that is, an irregular-shaped screen. The display screen 3205 can be prepared using materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0300] The camera module 3206 is used to capture images or videos. Optionally, the camera module 3206 includes a front camera and a rear camera. Generally, the front camera is disposed on the front panel of the terminal, and the rear camera is disposed on the back of the terminal. In some embodiments, there are at least two rear cameras, which are respectively any one of a main camera, a depth-of-field camera, a wide-angle camera, and a telephoto camera, so as to implement functions such as background blurring by fusing the main camera and the depth-of-field camera, panoramic shooting by fusing the main camera and the wide-angle camera, and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera module 3206 may further include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation under different color temperatures.

[0301] The audio circuit 3207 may include a microphone and a speaker. The microphone is used to collect sound waves of the user and the environment, and convert the sound waves into electrical signals for input to the processor 3201 for processing, or input to the radio frequency circuit 3204 to achieve voice communication. For the purpose of stereo collection or noise reduction, there may be multiple microphones, which are respectively arranged at different parts of the electronic device 3200. The microphone may also be an array microphone or an omnidirectional collection microphone. The speaker is used to convert the electrical signal from the processor 3201 or the radio frequency circuit 3204 into sound waves. The speaker may be a traditional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into inaudible sound waves for uses such as ranging. In some embodiments, the audio circuit 3207 may also include a headphone jack.

[0302] The power supply 3209 is used to supply power to each component in the electronic device 3200. The power supply 3209 may be alternating current, direct current, a disposable battery or a rechargeable battery. When the power supply 3209 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery charged through a wired line, and a wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0303] In some embodiments, the electronic device 3200 further includes one or more sensors 3210. The one or more sensors 3210 include but are not limited to: an acceleration sensor 3211, a gyroscope sensor 3212, a pressure sensor 3213, an optical sensor 3215, and a proximity sensor 3216.

[0304] The acceleration sensor 3211 can detect the magnitudes of accelerations on the three coordinate axes of the coordinate system established with the electronic device 3200. For example, the acceleration sensor 3211 can be used to detect the components of the gravitational acceleration on the three coordinate axes. The processor 3201 can control the display screen 3205 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 3211. The acceleration sensor 3211 can also be used for collecting game or user's motion data.

[0305] The gyroscope sensor 3212 can detect the body direction and rotation angle of the electronic device 3200. The gyroscope sensor 3212 can cooperate with the acceleration sensor 3211 to collect the 3D actions of the user on the electronic device 3200. According to the data collected by the gyroscope sensor 3212, the processor 3201 can achieve the following functions: motion sensing (such as changing the UI according to the user's tilting operation), image stabilization during shooting, game control, and inertial navigation.

[0306] The pressure sensor 3213 can be disposed on the side frame of the electronic device 3200 and / or the lower layer of the display screen 3205. When the pressure sensor 3213 is disposed on the side frame of the electronic device 3200, it can detect the holding signal of the user on the electronic device 3200, and the processor 3201 can perform left and right hand recognition or quick operation according to the holding signal collected by the pressure sensor 3213. When the pressure sensor 3213 is disposed on the lower layer of the display screen 3205, the processor 3201 can control the operable controls on the UI interface according to the pressure operation of the user on the display screen 3205. The operable controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0307] The optical sensor 3215 is used to collect the ambient light intensity. In one embodiment, the processor 3201 can control the display brightness of the display screen 3205 according to the ambient light intensity collected by the optical sensor 3215. Specifically, when the ambient light intensity is high, the display brightness of the display screen 3205 is increased; when the ambient light intensity is low, the display brightness of the display screen 3205 is decreased. In another embodiment, the processor 3201 can also dynamically adjust the shooting parameters of the camera module 3206 according to the ambient light intensity collected by the optical sensor 3215.

[0308] The proximity sensor 3216, also known as a distance sensor, is usually disposed on the front panel of the electronic device 3200. The proximity sensor 3216 is used to collect the distance between the user and the front of the electronic device 3200. In one embodiment, when the proximity sensor 3216 detects that the distance between the user and the front of the electronic device 3200 is gradually decreasing, the processor 3201 controls the display screen 3205 to switch from the lit state to the off state; when the proximity sensor 3216 detects that the distance between the user and the front of the electronic device 3200 is gradually increasing, the processor 3201 controls the display screen 3205 to switch from the off state to the lit state.

[0309] Those skilled in the art can understand that Figure 32 the structure shown in does not constitute a limitation on the electronic device 3200, and it may include more or fewer components than shown in the figure, or combine some components, or adopt a different component layout.

[0310] The embodiments of the present application also provide a robot, which includes a processor and a memory. At least one instruction, at least one program, a code set or an instruction set is stored in the memory, and at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to implement the robot movement starting and swinging method provided by the above method embodiments.

[0311] Embodiments of the present application also provide a computer-readable storage medium, on which at least one instruction, at least one program, a code set or an instruction set is stored, and the at least one instruction, at least one program, the code set or the instruction set is loaded and executed by a processor to implement the robot motion starting and swinging method provided by the above method embodiments.

[0312] Embodiments of the present application also provide a computer program product or a computer program, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the robot motion starting and swinging method described in any one of the above embodiments.

[0313] Optionally, the computer-readable storage medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), solid state drive (SSD, Solid State Drives) or optical disc, etc. Among them, the random access memory may include resistive random access memory (ReRAM, Resistance Random Access Memory) and dynamic random access memory (DRAM, Dynamic Random Access Memory). The serial numbers of the above embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0314] Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium, and the storage medium mentioned above can be read-only memory, a magnetic disk or an optical disc, etc.

[0315] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A starting swing method for a robot, characterized in that, The robot includes legs and a main body part connecting the legs. The legs include bendable knee joints, and mechanical wheels are provided at the knee joints. The legs include a first leg and a second leg. The second leg and the first leg are arranged front and back along the starting swing direction of the robot. One end of the first leg is connected to the main body part, and the other end of the first leg is a first foot. One end of the second leg is connected to the main body part, and the other end of the second leg is a second foot; The method includes: Receiving a starting swing instruction for movement; When the robot supports the ground with the first foot and the second foot, in response to the starting swing instruction for movement, controlling the first leg of the robot to be in a suspended state, and performing a leg retracting action of the first leg. When the suspended state ends, the first mechanical wheel at the knee joint of the first leg is supported on the ground. The suspended state is used to indicate that the first foot is separated from the running surface of the robot; Using the first mechanical wheel as a balanced force point, controlling the second leg of the robot to be suspended and stabilizing it to a balanced state.

2. The method according to claim 1, characterized in that, The first leg includes a bendable first knee joint; The controlling the first leg of the robot to be in a suspended state in response to the starting swing instruction for movement includes: In response to the starting swing instruction for movement, controlling the torque of the first knee joint to bend the first knee joint in a direction to increase the vertical height between the first mechanical wheel and the horizontal plane until the first leg of the robot is in a suspended state.

3. The method according to claim 2, wherein The first leg includes a first upper leg and a first lower leg. The first upper leg and the first lower leg are connected by the first knee joint, and the first upper leg is connected to the main body part; The performing the leg retracting action of the first leg includes: Controlling the torque of the first knee joint to reduce the angle between the first upper leg and the first lower leg to implement the leg retracting action of the first leg.

4. The method according to claim 3, wherein The first upper leg is equipped with a first magnetic attraction component, and the first lower leg is equipped with a second magnetic attraction component. There is a magnetic attraction matching relationship between the first magnetic attraction component and the second magnetic attraction component; The controlling the torque of the first knee joint to reduce the angle between the first upper leg and the first lower leg to implement the leg retracting action of the first leg includes: Controlling the torque of the first knee joint to reduce the angle between the first upper leg and the first lower leg; When the angle reaches a preset angle threshold, the first leg's retracting action is achieved by the mutual attraction of the first magnetic attraction component equipped on the first upper leg and the second magnetic attraction component equipped on the first lower leg.

5. The method according to any one of claims 1 to 4, characterized in that The first leg includes a first upper leg and a first lower leg. The first upper leg and the first lower leg are connected by a bendable first knee joint, and the first upper leg is connected to the main body part; After controlling the first leg of the robot to be in a suspended state, it further includes: Determining a target area, where the target area is used to indicate the movement allowable area of the first leg; During the process of performing the leg retraction action on the first upper leg and the first lower leg, the target area is used as the grounding range of the first mechanical wheel.

6. The method according to claim 5, characterized in that The robot includes a first leg joint for controlling the torque of the first upper leg. During the process of performing the leg retraction action on the first upper leg and the first lower leg, using the target area as the grounding range of the first mechanical wheel includes: During the process of performing the leg retraction action on the first upper leg and the first lower leg, by controlling the torque of the first leg joint, adjusting the angle between the first upper leg and the horizontal plane, and making the first mechanical wheel land within the target area. In response to the first mechanical wheel landing within the target area, the contact point between the first mechanical wheel and the target area is used as the balanced force point.

7. The method according to any one of claims 1 to 4, characterized in that The first leg includes a first upper leg and a first lower leg. The first upper leg and the first lower leg are connected by the first knee joint, and the first upper leg is connected to the main body part. The first lower leg includes an insertion rod, and the insertion rod is controlled by a linear motor to adjust the driving connection state between the first lower leg and the first knee joint.

8. The method according to claim 7, characterized in that, The first knee joint includes a groove plate, and there is at least one wheel groove corresponding to the groove plate. The method further includes: In response to controlling the insertion rod to insert into the wheel groove, the rotation of the first lower leg is driven by the rotation of the first knee joint through the insertion rod. In response to controlling the insertion rod to retract from the wheel groove, the driving connection state between the first knee joint and the first lower leg is cancelled.

9. The method according to any one of claims 1 to 4, characterized in that The second leg includes a second upper leg and a second lower leg. The second upper leg and the second lower leg are connected by a second knee joint that bends and moves, and the second upper leg is connected to the main body part. Suspending the second leg of the robot with the first mechanical wheel as the balanced force point includes: Using the second leg as the force application point and the first mechanical wheel as the force receiving point, controlling the torque of the first mechanical wheel and the torque of the second knee joint to suspend the second leg of the robot.

10. The method according to claim 9, wherein After suspending the second leg of the robot by controlling the torque of the first mechanical wheel and the torque of the second knee joint with the first mechanical wheel as the force receiving point, it further includes: Making the robot enter the balanced state by controlling the rotation of the first mechanical wheel. The balanced state is used to indicate the balanced state after completing the motion starting and swinging instruction.

11. The method according to claim 10, characterized in that, Making the robot enter the balanced state by controlling the rotation of the first mechanical wheel includes: Adjusting the angle between the first upper leg and the horizontal plane by controlling the rotation of the first mechanical wheel. Wherein, when the angle between the first upper leg and the horizontal plane reaches the preset adjustment condition, the robot enters the balanced state.

12. A motion starting and swinging device for a robot, characterized in that, The robot includes legs and a main body part connecting the legs. The legs include bendable knee joints, and mechanical wheels are provided at the knee joints. The legs include a first leg and a second leg. The first leg and the second leg are arranged front and back along the starting swing direction of the robot. One end of the first leg is connected to the main body part, and the other end of the first leg is a first foot. One end of the second leg is connected to the main body part, and the other end of the second leg is a second foot; The device includes: An instruction receiving module, configured to receive a starting swing instruction; A first control module, configured to, when the robot is supported by the first foot and the second foot, in response to the starting swing instruction, control the first leg of the robot to be in a suspended state, and perform a leg retracting action of the first leg, and when the suspended state ends, support the first mechanical wheel at the knee joint of the first leg on the ground. The suspended state is used to indicate that the first foot is separated from the running surface of the robot; A second control module, configured to use the first mechanical wheel as a balanced force point to control the second leg of the robot to be suspended and stabilize it to a balanced state.

13. A robot, characterized in that, The robot includes a processor and a memory. At least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement the starting swing method of the robot according to any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, At least one instruction is stored in the storage medium, and the at least one instruction is loaded and executed by a processor to implement the starting swing method of the robot according to any one of claims 1 to 11.

15. A computer program product, characterized in that, It includes computer instructions, and when the computer instructions are executed by a processor, the starting swing method of the robot according to any one of claims 1 to 11 is implemented.

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