Method for motion control of a mobile robot and mobile robot

Abstract

The application discloses a motion control method of a mobile robot and the mobile robot, and relates to the field of robots. The mobile robot comprises a wheel part and a base part connected with the wheel part, and a somatosensory sensing device is arranged on the base part. The method comprises the following steps: receiving a tactile pressing operation on the somatosensory sensing device; and in response to the tactile pressing operation, controlling the mobile robot to perform interactive motion; wherein the interactive motion is motion corresponding to the tactile pressing operation, and at least one of the wheel part and the base part moves in the process of the interactive motion.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a motion control method for a mobile robot and the mobile robot itself. Background Technology

[0002] Human-robot interaction with mobile robots typically relies on visual or audio signals. For example, sensor information is acquired through LiDAR and cameras to enable interaction. Alternatively, speech recognition is used to obtain audio information for human-robot interaction. Or, the operator controls the robot to interact via commands.

[0003] In the aforementioned human-computer interaction process, the mobile robot's response is usually a single voice reply, or it moves according to a simple specified movement pattern. Summary of the Invention

[0004] This application provides a motion control method and a mobile robot, which can receive tactile pressing operations through a somatosensory sensing device installed on the base, so that the mobile robot can realize interactive movement corresponding to the tactile pressing operation. The technical solution includes at least the following:

[0005] According to one aspect of this application, a motion control method for a mobile robot is provided. The mobile robot includes a wheel section and a base section connected to the wheel section, and a motion sensing device is disposed on the base section. The method includes:

[0006] Receive tactile pressure operations from motion sensing devices;

[0007] In response to tactile pressure operations, control the mobile robot to perform interactive movements;

[0008] Interactive motion is the motion corresponding to tactile pressing operation. During interactive motion, at least one of the wheel part and the base part moves.

[0009] According to one aspect of this application, a mobile robot is provided, the mobile robot including a wheel section and a base section connected to the wheel section, and a motion sensing device is provided on the base section.

[0010] The mobile robot is equipped with a controller, which is used to control the mobile robot to implement the motion control method of the mobile robot as described above.

[0011] According to one aspect of this application, a motion control device for a mobile robot is provided, the device comprising:

[0012] The receiving module is used to receive tactile pressing operations from the motion sensing device;

[0013] The control module is used to control the mobile robot to perform interactive movements in response to tactile pressing operations;

[0014] Interactive motion is the motion corresponding to tactile pressing operation. During interactive motion, at least one of the wheel part and the base part moves.

[0015] According to one aspect of this application, a computer device is provided, the computer device including a memory and a processor; the memory stores at least one piece of program code, which is loaded and executed by the processor to implement the motion control method for a mobile robot as described above.

[0016] According to one aspect of this application, a computer-readable storage medium is provided, in which a computer program is stored, the computer program being executed by a processor to implement the motion control method for a mobile robot as described above.

[0017] According to one aspect of this application, a chip is provided, the chip including programmable logic circuitry and / or program instructions, for implementing the motion control method for a mobile robot as described above when an electronic device on which the chip is mounted is running.

[0018] According to one aspect of this application, a computer program product is provided, the computer program product including computer instructions stored in a computer-readable storage medium, and a processor reading from the computer-readable storage medium and executing the computer instructions to implement the motion control method for a mobile robot as described above.

[0019] The beneficial effects of the technical solutions provided in this application include at least the following:

[0020] By using a motion-sensing device on the base to receive tactile pressure operations, the mobile robot can achieve interactive movements corresponding to the tactile pressure operations. The motion-sensing device can be considered as electronic skin on the base, providing a new human-computer interaction method for the mobile robot through tactile pressure operations on this electronic skin. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of a wheeled-legged robot provided in an exemplary embodiment of this application;

[0023] Figure 2 This is a partial schematic diagram of a wheeled-legged robot provided in an exemplary embodiment of this application;

[0024] Figure 3 This is a front view of a wheeled robot in a two-wheeled standing position, provided in an exemplary embodiment of this application.

[0025] Figure 4 This is a side view of a wheeled-legged robot in a two-wheeled standing position, provided in an exemplary embodiment of this application;

[0026] Figure 5 This is a top view of a wheeled-legged robot in a two-wheeled standing position, provided in an exemplary embodiment of this application;

[0027] Figure 6 This illustration shows a perspective view of a wheeled-legged robot provided in an exemplary embodiment of this application with its counterweight leg in an inward-folded state;

[0028] Figure 7 This is a front view of a wheeled-legged robot in a three-wheeled standing position according to an exemplary embodiment of this application;

[0029] Figure 8 This is a side view of a wheeled-legged robot in a three-wheeled standing position, provided in an exemplary embodiment of this application;

[0030] Figure 9 This is a top view of a wheeled-legged robot in a three-wheeled standing position, provided in an exemplary embodiment of this application;

[0031] Figure 10 This is a perspective view of a wheeled-legged robot in a three-wheeled standing position, provided in an exemplary embodiment of this application.

[0032] Figure 11 This is another perspective view of a wheeled-legged robot in a three-wheeled standing position, provided in an exemplary embodiment of this application.

[0033] Figure 12 This is a schematic diagram of the form of a wheeled-legged robot provided in an exemplary embodiment of this application;

[0034] Figure 13 This is a schematic diagram of three spatial angles provided in an exemplary embodiment of this application;

[0035] Figure 14 This is a block diagram of pitch angle direction balance control provided in an exemplary embodiment of this application;

[0036] Figure 15 This is a flowchart of a motion control method for a mobile robot provided in an exemplary embodiment of this application;

[0037] Figure 16 This application provides multiple implementation methods for tactile pressing operations and interactive movements, as illustrated in an exemplary embodiment.

[0038] Figure 17 This is a flowchart of a motion control method for a mobile robot provided in an exemplary embodiment of this application;

[0039] Figure 18 This is a flowchart of a motion control method for a mobile robot provided in an exemplary embodiment of this application;

[0040] Figure 19 This is a flowchart of a motion control method for a mobile robot provided in an exemplary embodiment of this application;

[0041] Figure 20 This is a schematic diagram illustrating various signal parsing methods provided in an exemplary embodiment of this application;

[0042] Figure 21 This is a schematic diagram of a touch detection method provided in an exemplary embodiment of this application;

[0043] Figure 22 This is a schematic diagram of a touch detection method provided in an exemplary embodiment of this application;

[0044] Figure 23 This is a schematic diagram of a touch detection method provided in an exemplary embodiment of this application;

[0045] Figure 24 This is a schematic diagram of a touch detection method provided in an exemplary embodiment of this application;

[0046] Figure 25 This is a schematic diagram of the generalized coordinates of a mobile robot provided in an exemplary embodiment of this application;

[0047] Figure 26 This is an overall control framework diagram of a mobile robot provided in an exemplary embodiment of this application;

[0048] Figure 27 This is a schematic diagram of a motion control device for a mobile robot provided in an exemplary embodiment of this application;

[0049] Figure 28 This is a block diagram of an electronic device provided in an exemplary embodiment of this application.

[0050] The following explains the various labels in the attached diagram:

[0051] 10-Wheel-Leg Robot;

[0052] 11-Base section;

[0053] 12-Wheel section:

[0054] 121-Thigh Unit;

[0055] 122-Lower leg unit;

[0056] 123 - Drive wheel;

[0057] 124-Drive Unit: 1241-First Drive Motor; 1242-Second Drive Motor;

[0058] 13-Tail:

[0059] 131 - Counterweight Leg;

[0060] 132 - Passive Wheel;

[0061] 133 - Third drive motor;

[0062] 01-Torsion spring; 02-Rotating shaft; 03-Synchronous belt; 04-Synchronous belt pulley. Detailed Implementation

[0063] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by those skilled in the art.

[0064] In the embodiments of this application, the terms "front" and "rear" are based on the front and rear shown in the accompanying drawings. "First end" and "second end" refer to two opposite ends.

[0065] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0066] The motion control method for mobile robots provided in this application can be used for any type of robot, including redundant drive system robots, fully driven system robots, and underactuated system robots. A redundant drive system robot is a robot with a number of drives greater than the number of joint degrees of freedom; a fully driven system robot is a robot with a number of drives equal to the number of joint degrees of freedom; and an underactuated system robot is a robot with a number of drives less than the number of joint degrees of freedom.

[0067] It should be understood that underactuated robot systems are inherently unstable and suffer from balance issues, making their motion control more challenging compared to the other two types of robots. For example, wheeled-legged robots present significant balance control challenges, requiring the use of both linear and nonlinear control techniques.

[0068] In some embodiments, the motion control method provided in this application is applied to an underactuated system robot. Optionally, the motion control method provided in this application is applied to a wheel-legged robot. The following description uses an underactuated system robot as an example; redundant drive system robots and fully drive system robots are similar and can be used as a reference, and will not be described again.

[0069] Figure 1 An exemplary embodiment of this application provides a wheel-legged robot 10, which is a type of underactuated system robot. The wheel-legged robot 10 combines the advantages of wheeled and legged robots, exhibiting high wheel energy efficiency and strong adaptability, enabling it to avoid obstacles on uneven terrain using its legs. However, the wheel-legged robot 10 is an unstable underactuated system with only two contact points between the ground and the wheels / legs, making balance control challenging as achieving body balance is difficult.

[0070] Schematic illustration: The wheeled robot 10 includes a base 11, wheels 12, and a tail 13, with the wheels 12 and tail 13 being drivenly connected to the base 11. Optionally, the wheels 12 may be divided into left and right sides, which may be completely symmetrical or not completely symmetrical.

[0071] Schematic representation: The wheel section 12 includes a leg section and a wheel section. The leg section includes a thigh unit 121 and a lower leg unit 122, and the wheel section includes a drive wheel 123. Taking the thigh unit 121 and the lower leg unit 122 as examples, the two links in the thigh unit 121, the two links in the lower leg unit 122, and the base section 11 constitute a planar five-bar linkage.

[0072] Optionally, the first drive motor 1241 is fixed to the base portion 11 and is used to provide driving force to the thigh unit 121.

[0073] Taking the first drive motor 1241, which includes two motors, as an example, the two rods of the thigh unit 121 are fixedly connected to the output shafts of the two motors included in the first drive motor 1241. The two rods of the thigh unit 121 and the two rods of the calf unit 122 are connected at one end in the form of a revolute joint to form a planar five-bar linkage.

[0074] Optionally, the second drive motor 1242 is fixed to one of the rods of the lower leg unit 122 to provide driving force to the drive wheel 123.

[0075] refer to Figure 2The partial schematic diagram of the wheeled robot 10 shown shows that the drive wheel 123 can be driven in the following way: the second drive motor 1242 drives the rotation shaft 02 of the drive wheel 123 through belt transmission. The rotation shaft 02 and the two rods included in the lower leg unit 122 are axially coaxial with each other. The torsion spring 01 is mounted on the rotation shaft 02, and the arms of the torsion spring 01 are respectively fixed on the two rods included in the lower leg unit 122.

[0076] Optionally, a synchronous pulley 04 is mounted on the output shaft of the second drive motor 1242. The synchronous pulley 04 is fixed on the rotating shaft 02, and the drive wheel 123 is fixed on the other end of the rotating shaft 02. The synchronous belt 03 is sleeved on the synchronous pulley 04. The second drive motor 1242 drives the synchronous pulley 04 to rotate by driving the synchronous belt 03, thereby driving the drive wheel 123 to rotate.

[0077] Optionally, in the wheeled robot 10 provided in this application embodiment, the tail 13 includes a counterweight leg 131, a passive wheel 132, and a third drive motor 133. The counterweight leg 131 provides balance during the movement of the wheeled robot 10, and the third drive motor 133 provides driving force to the passive wheel 132.

[0078] Figure 3-5 The front view, left view and top view of the wheeled robot 10 in the case of standing on two wheels are shown respectively; Figure 6 A three-dimensional schematic diagram of the wheeled robot 10 with its counterweight leg 131 in an inward-folded state is shown.

[0079] In one optional implementation scenario, the wheeled-legged robot 10 can also be in a three-wheeled standing state. Specifically, when the wheeled-legged robot 10 is in a three-wheeled standing state... Figure 7-9 The front view, left view, and top view of the wheeled robot 10 in a three-wheeled standing position are shown. Figure 10 and 11 Different perspective views of the wheeled robot 10 in three-wheeled standing positions are shown.

[0080] refer to Figure 7 Taking the position angle formed by the axis of the two rods included in the thigh unit 121 as an example, if the position angle θ < 180°, the mechanism can be in a self-stabilizing state.

[0081] In one alternative implementation scenario, the wheeled robot 10 can also have other forms. Figure 12 An example of one form is given.

[0082] It should be understood that the wheeled-legged robot 10 is a type of underactuated system robot. The following embodiments of this application only use the wheeled-legged robot 10 as an example. The specific structure and form of the wheeled-legged robot 10 can be set according to the actual situation and do not constitute a limitation on this application.

[0083] To achieve balance in the wheeled robot 10, balance feedback control is typically required. Balance feedback control mainly involves feeding back self-balancing measurements to the control system, ensuring that the final balance measurement meets the standard.

[0084] Indicative, Figure 13 This is a schematic diagram of three spatial angles provided in an exemplary embodiment of this application. The embodiments of this application mainly use three spatial angles for balancing: pitch, yaw, and roll.

[0085] refer to Figure 13 A right-handed Cartesian coordinate system is established for the three-dimensional control of the wheeled robot 10. The pitch angle is the angle of rotation around the x-axis, which is the coordinate axis along the forward direction of the wheeled robot 10, corresponding to the roll angle (hereinafter denoted by θ). The yaw angle is the angle of rotation around the y-axis, which is the coordinate axis along the direction of connection between the two wheels of the wheeled robot 10, corresponding to the pitch angle (hereinafter denoted by φ). The roll angle is the angle of rotation around the z-axis, which is the coordinate axis in the vertically upward direction, corresponding to the yaw angle (hereinafter denoted by φ). express.

[0086] Taking pitch angle balance control as an example, the balance control will be explained as follows:

[0087] The pitch direction angle represents the swing amplitude of the wheel-legged robot 10 in the forward direction. That is, the pitch direction angle represents the angle of the wheel-legged robot 10 swinging back and forth in the control direction of wheel rotation. This is because there is only a single contact point between each wheel and the moving surface, and the wheels of the wheel-legged robot 10 are arranged laterally.

[0088] The control in the pitch direction consists of a multi-loop proportional-integral-derivative (PID) controller. The wheeled robot 10 is projected onto a two-dimensional plane to form a simplified two-dimensional model. X represents the lateral distance the wheel center moves in the simplified two-dimensional model. Assuming the wheel does not slip or leave the ground, X is equal to the product of the wheel's rotation angle and the wheel's radius.

[0089] Indicative, Indicates the speed at which the center of the wheel moves. The reference speed representing the movement of the wheel center is θ, and θ represents the pitch angle of the wheel-legged robot 10, which is the angle of rotation about a direction perpendicular to the plane of the paper in the simplified two-dimensional model. Accordingly, This indicates the pitch angular velocity of the wheeled robot 10. θ represents the reference value of the pitch angular velocity of the wheeled robot 10, and τ represents the torque input to the wheel motors of the wheeled robot 10. Where θ, and Acquired by sensors. For example, θ and Acquired through an inertial measurement unit (IMU). It is obtained through the encoder sensor on the wheel.

[0090] Figure 14 This diagram illustrates a block diagram of pitch direction balance control provided in an exemplary embodiment of this application. The outermost control reference quantity is the speed reference value of the wheel center movement.

[0091] First, obtain the reference speed at which the wheel center moves. That is, the speed that the wheel needs to reach according to the expected motion, and the speed of the wheel center movement collected by sensors. Will Speed ​​relative to the center of the wheel The result of the subtraction is input to the PID controller 1410, and the PID controller 1410 outputs θ. ref .

[0092] Secondly, the θ ref θ will be used as the control reference for the next control loop. ref Subtracting from θ yields the pitch angle difference, which is the difference between the current pitch angle and the reference pitch angle. This pitch angle difference is then input into the PID controller 1420 to obtain... Subsequently, As the control reference quantity for the next control loop, and The result of the subtraction is input to the PID controller 1430, which outputs τ. τ is then sent to the wheel motors of the wheeled robot 10 to achieve the robot's balance control.

[0093] At the same time, after the state of the wheeled robot 10 changes accordingly, θ, The values ​​will change accordingly. These values ​​are acquired by the sensors and used in the next round of control of the wheeled robot 10, thus forming a control closed loop.

[0094] The τ obtained from the above balance control can be used as a reference signal for the wheel rotation of the whole-body type controller of the wheel-legged robot 10. There are many ways to calculate and generate this reference signal. This application is only an example, and other methods for obtaining τ do not limit this application.

[0095] As an illustration, the balance control in the yaw and roll directions is similar to the balance control in the pitch direction, and can be used as a reference, so it will not be elaborated further.

[0096] Based on the foregoing, this application provides a motion control method for a mobile robot, which uses a motion sensing device mounted on the base to control the mobile robot to achieve interactive motion corresponding to tactile pressing operations on the motion sensing device.

[0097] The following descriptions all use underactuated mobile robots as an example. Redundant and fully actuated robots are similar and can be used as a reference, so they will not be described in detail here.

[0098] Figure 15 A flowchart illustrating a motion control method for a mobile robot provided in an exemplary embodiment of this application is shown. The mobile robot includes wheels and a base connected to the wheels, with a motion sensing device mounted on the base.

[0099] In some embodiments, the mobile robot is an underactuated system robot.

[0100] refer to Figure 1 and Figure 6 Taking the underactuated system robot, specifically the wheeled-legged robot 10, as an example, Figure 1 The tail 13 of the wheeled robot 10 shown is in an extended state. Figure 6 The tail 13 of the wheeled robot 10 shown is in a retracted state. For example, with the tail 13 in the retracted state, the forward direction of the wheeled robot 10 is from the counterweight leg 131 to the passive wheel 132.

[0101] In the following embodiments, it is assumed that the mobile robot is a wheel-legged robot 10, and the forward direction of the mobile robot is the direction from the counterweight leg 131 to the passive wheel 132 when the tail 13 is in the retracted state. At this time, the backward direction is the opposite of the forward direction, the left side of the forward direction is the left direction, and the right side of the forward direction is the right direction.

[0102] The terms "forward direction", "backward direction", "left" and "right" used in the following embodiments are all based on this example and will not be repeated.

[0103] Schematic, a motion sensing device is a device used to detect contact information between a mobile robot and its external environment. In some embodiments, the motion sensing device is a force / tactile sensing device, or may be represented as a force-tactile sensing device. The motion sensing device can be implemented as any one of a force sensor, a tactile sensor, or a force-tactile sensor.

[0104] Indicatively, the motion control method provided in this application includes:

[0105] Step 102: Receive tactile pressing operations from the somatosensory sensing device.

[0106] The motion sensing device can consist of an m×n pressure sensor array.

[0107] Optionally, a tactile sensor is provided on the upper surface of the base, comprising an array of pressure sensors arranged in an m×n matrix. The length and width of the m×n matrix are adapted to the upper surface of the base, where m and n are positive integers. For example, if the upper surface of the base is 40cm*20cm, a pressure sampling point of the tactile sensor can be placed at 1cm intervals, forming a corresponding 40*20 dot array on the upper surface of the base.

[0108] It should be understood that in practical applications, as the size of the upper surface of the base changes, the difference in the initial velocity and pressure detection range in the application scenario, including the delay of the motor bottom control, the spacing of the pressure dot matrix of the tactile sensor can be adaptively changed, and the values ​​of m and n can also be adaptively adjusted. The above are only examples and do not constitute a specific limitation on the values ​​of m and n involved in this application.

[0109] In some embodiments, the motion sensing device can be considered as electronic skin disposed on the base portion for sensing the touch of an operator's finger on the upper surface of the base portion. Illustratively, a tactile pressing operation is a touch operation performed on the motion sensing device.

[0110] This illustrative example of tactile pressing operation indicates a pressing action performed on a motion-sensing device, enabling the device to acquire information about the contact point location and / or the force applied to it. Tactile pressing operations can be implemented in various ways, such as using a finger, palm, or stylus to press on the device. All of these pressing methods can be single-point pressing or continuous multi-point pressing.

[0111] In some embodiments, tactile pressing is achieved by an operator pressing on a motion-sensing device with their fingers; tactile pressing can be considered as fingertip pressing. The following embodiments illustrate pressing on a motion-sensing device with the operator's fingers, but do not limit the scope of this application. It should be understood that other pressing methods are similar and can be used as a reference, and will not be described in detail here.

[0112] Tactile pressing operations include various types. For example, the operator presses a point on the motion-sensing device and then immediately releases it; another example is the operator quickly drawing a straight line on the motion-sensing device.

[0113] Optionally, the tactile pressing operation includes at least one of the following operations:

[0114] • Single-point press operation: A single-point press operation is an instantaneous touch performed on a motion sensing device. An instantaneous touch does not form a movement trajectory on the motion sensing device.

[0115] In some embodiments, to facilitate the detection of tactile pressing operations, the motion sensing device can be divided into blocks, and each block can be assigned a block identifier. When a tactile pressing operation is received, a target posture sequence signal corresponding to the tactile pressing operation can be obtained through at least one touch point on the motion sensing device. The target posture sequence signal is used to indicate relevant information about at least one touch point. For example, if the motion sensing device is divided into 6 blocks, by having the operator press on at least one of the 6 blocks, at least the block identifier of the pressed touch point can be obtained.

[0116] For example, a single-point press operation includes at least one of the following operations: a first single-point press operation, a second single-point press operation, and a third single-point press operation.

[0117] The first single-point press operation is an instantaneous touch on the first panel of the motion sensing device, which is the panel on the motion sensing device that is away from the forward direction of the mobile robot; the second single-point press operation is an instantaneous touch on the second panel of the motion sensing device, which is the panel on the motion sensing device that is away from the backward direction of the mobile robot; the third single-point press operation is an instantaneous touch on the third panel of the motion sensing device, which is the remaining panel on the motion sensing device excluding the first and second panels.

[0118] For example, the motion sensing device can be divided into six sections arranged in two rows and three columns. The three sections in the first row are positioned closer to the robot's forward direction, and the three sections in the second row are positioned closer to the robot's backward direction. The first section is the middle section of the second row, the second section is the middle section of the first row, and the third section is one of the remaining four sections.

[0119] • Continuous press operation: Continuous press operation is a continuous touch performed on the motion sensing device, and continuous touch forms a movement trajectory on the motion sensing device.

[0120] This can be understood as a continuous pressing operation being a simple sketch performed by the operator on a motion sensing device; the trajectory of the movement can be a straight line or a curve.

[0121] For example, the continuous pressing operation includes at least one of the following operations: a first continuous pressing operation, a second continuous pressing operation, a third continuous pressing operation, a fourth continuous pressing operation, and a fifth continuous pressing operation.

[0122] Among them, the first and second continuous pressing operations are straight lines drawn by the operator on the motion sensing device; the third, fourth and fifth continuous pressing operations are different curves drawn by the operator on the motion sensing device.

[0123] For example, the pattern corresponding to the first continuous pressing operation is a first straight line, the direction of which is perpendicular to the forward direction of the mobile robot; the pattern corresponding to the second continuous pressing operation is a second straight line, the direction of which is the forward direction of the mobile robot; the pattern corresponding to the third continuous pressing operation is a circle; the pattern corresponding to the fourth continuous pressing operation is a U-shape; and the pattern corresponding to the fifth continuous pressing operation is a heart shape.

[0124] Step 104: In response to tactile pressing operations, control the mobile robot to perform interactive movements.

[0125] Indicatively, interactive motion is the motion corresponding to a tactile pressing operation; during interactive motion, at least one of the wheel section and the base section moves.

[0126] In some embodiments, a tactile pressing operation is a simplified sketching operation performed by an operator on a somatosensory sensing device, mimicking a biological motion state. One tactile pressing operation corresponds to a simplified sketching method of a biological motion state. This can be understood as one tactile pressing operation corresponding to one interactive movement.

[0127] Optionally, interactive motion includes one of the following:

[0128] • Movement and turning are displacement movements performed by a mobile robot;

[0129] It should be understood that movement can be divided into first movement and second movement. First movement is the movement of the mobile robot in the forward direction, and second movement is the movement of the mobile robot in the backward direction. In other words, movement can be understood as the mobile robot's forward and backward motion.

[0130] • Turning motion: Turning motion is the movement of a mobile robot that changes its direction of travel;

[0131] This can be understood as the rotation of the mobile robot, with the rotation angle not exceeding 180 degrees. For example, controlling the mobile robot to rotate 45 degrees to the left determines the left front of the original forward direction as the new forward direction.

[0132] • Shaking motion: Shaking motion is the body shaking motion of a mobile robot based on the movement trajectory of tactile pressing operations;

[0133] Schematic representation: the swaying motion can be divided into a first swaying motion and a second swaying motion. The first swaying motion is the motion in which the wheel section moves relative to the base section, while the second swaying motion is the motion in which the robot moves forward and backward. Alternatively, the first swaying motion can be understood as the robot shaking its head left and right, and the second swaying motion as the robot nodding its head back and forth.

[0134] The first swaying motion is achieved by the alternating extension and retraction of the legs of the two wheel sections of the mobile robot, that is, by controlling the wheel sections to alternately change the height of the legs. For example, by controlling the leg of the left wheel section to shorten and the leg of the right wheel section to extend, and then controlling the leg of the left wheel section to extend and the leg of the right wheel section to shorten in the next moment, the alternating control achieves the first swaying motion. The second swaying motion is achieved by the alternating extension and retraction of the two sets of wheel-leg support rods on each wheel section, that is, by controlling the alternating extension and retraction of the first wheel-leg support rod and the second wheel-leg support rod of each wheel section. For example, each wheel section includes a wheel-leg support rod closer to the forward direction and a wheel-leg support rod closer to the backward direction. By controlling the wheel-leg support rod closer to the forward direction to shorten and the wheel-leg support rod closer to the backward direction to extend, and then controlling the wheel-leg support rod closer to the forward direction to extend and the wheel-leg support rod closer to the backward direction to shorten in the next moment, the alternating control achieves the second swaying motion.

[0135] In the first and second swaying movements, the swaying amplitude of the mobile robot is determined based on the tactile pressing operation. Taking the motion sensing device as divided into 6 sections, and the tactile pressing operation as the first continuous pressing operation corresponding to the operator drawing a horizontal line on the motion sensing device as an example, it can be understood that the swaying amplitude of the mobile robot is determined based on at least one of the following: the length of the horizontal line, the initial contact point position of the horizontal line on the motion sensing device, and the drawing speed of the horizontal line.

[0136] For example, the tilt angle of the base is determined by the length of the horizontal line; the longer the line, the larger the tilt angle, and vice versa. The initial tilt direction of the base is determined by the initial contact point position of the horizontal line on the motion sensing device. For instance, if the initial contact point position is close to the left wheel, the base is controlled to tilt to the left first. The swaying speed of the mobile robot is determined by the drawing speed of the horizontal line; the faster the line is drawn, the greater the swaying speed, and vice versa.

[0137] Rotational motion, which is a complete rotational motion performed by a mobile robot;

[0138] This can be understood as the robot rotating in a 360-degree circle, rotating in both directions. After rotating, the robot's forward direction remains unchanged. For example, if an operator draws a clockwise circle on a motion-sensing device, the robot will rotate one full circle clockwise.

[0139] • Elevation motion: Elevation motion is the motion in which the vertical height of a mobile robot changes.

[0140] This can be understood as the undulating motion being the crouching and standing motion of the mobile robot. Optionally, after the mobile robot performs the undulating motion, its height remains unchanged. For example, if the operator draws a U-shaped curve with its opening facing the direction of travel on the motion sensing device, the vertical height of the control wheel section will first decrease and then increase until it returns to its original height.

[0141] • Swinging motion: Swinging motion is the body-swinging motion performed by a mobile robot.

[0142] The swaying motion is similar to the first shaking motion, both being left and right head movements of the mobile robot. The difference is that the amplitude of the first shaking motion is determined by the tactile pressing operation, while the amplitude and / or speed of the swaying motion are fixed.

[0143] This can be understood as follows: during the swaying motion, the height of the legs of the wheel unit alternately changes at a fixed height and / or swaying speed. For example, if the operator draws a horizontal line on the motion sensing device, the robot is controlled to perform the first swaying motion, and the change in the height of the legs of the wheel unit is determined according to the length of the horizontal line; if the operator draws a heart-shaped curve on the motion sensing device, the robot is controlled to perform a swaying motion, and the height of the legs of the wheel unit alternately changes at a fixed height and / or swaying speed.

[0144] Based on the foregoing, tactile pressing operations and interactive movements can be classified in various ways. There is a one-to-one correspondence between tactile pressing operations and interactive movements; one type of tactile pressing operation corresponds to one type of interactive movement. It should be understood that the correspondence between tactile pressing operations and interactive movements can be arbitrarily combined or set according to actual needs, and this application does not impose any limitations on this.

[0145] As described above, tactile pressing operations enable motion sensing devices to acquire the location and / or force information of the touch point. The examples above are exemplary cases of interactive movement based on touch point location. In some embodiments, a mobile robot can also be controlled to perform interactive movements based on the force information of the touch point.

[0146] Optionally, step 104 can be implemented as follows:

[0147] In response to the first tactile press operation, control the mobile robot to perform the first interactive movement;

[0148] In response to a second tactile press operation, control the mobile robot to perform a second interactive movement;

[0149] The first tactile pressing operation and the second tactile pressing operation are of the same type, but the contact point position and / or force information obtained by the first tactile pressing operation and the second tactile pressing operation are different.

[0150] It should be understood that the first and second interactive movements can be two manifestations of the same type of interactive movement, or they can be different types of interactive movements. For example, both the first and second interactive movements can be rotational movements, and the rotational speed of the mobile robot is determined by the force information at the contact point; the greater the pressure applied to the contact point, the greater the rotational speed. Another example is that the first interactive movement is a swaying motion, and the second interactive movement is an undulating motion.

[0151] Tactile pressure operations include two types: single-point pressure operations and continuous pressure operations. Each type also has several subcategories, as detailed above. Interactive motion includes various types such as movement and shaking motion, as detailed above.

[0152] For a description of interactive motion based on the location of the touch point, please refer to the above content. The following will describe the interactive motion of a mobile robot controlled by force information from the touch point.

[0153] Optionally, the first interactive motion and the second interactive motion are determined based on one of the pressing pressure, force direction, and force angle of the contact point.

[0154] Taking tactile pressing as an example, where the pressure information at the touch point differs for the same single-point pressing operation, the mobile robot can be controlled to perform interactive movements corresponding to different pressure information. For instance, if an operator touches a panel near the backward direction on a motion-sensing device, the pressure at that touch point can be obtained. Different pressure levels can control the mobile robot to move forward a different distance. For example, the greater the pressure value, the farther the movement distance. A light touch might move the robot 0.5 meters, while a firm press might move it 1 meter. The movement distance can also be determined by the direction and angle of the pressure; for example, a larger angle results in a farther movement distance.

[0155] Taking a continuous pressing operation as an example, the pressing force of a single contact point is obtained from the continuous pressing operation. This pressing force can be calculated from the pressing force of at least one key point on the movement trajectory formed by continuous touches, such as the average pressing force of multiple key points; or, the pressing force can be calculated from the pressing force of all contact points on the movement trajectory. It should be understood that the at least one key point can be arbitrarily selected or determined according to the point selection rules, and this application does not impose any limitations.

[0156] For example, an operator draws a horizontal line on a motion-sensing device, and the pressure applied to a contact point can be calculated based on at least one or more key points on the line. Different pressures can control the mobile robot to perform different types of interactive movements. For instance, a lighter pressure when drawing the line controls the robot to shake its head left and right; a heavier pressure causes the robot to jump upwards. Exemplarily, the different types of the first and second interactive movements can also be determined based on the direction and angle of the pressure applied, and this determination can be set according to actual needs; this application does not impose any limitations on this.

[0157] It should be understood that interactive motion can also be determined based on the contact point location and the force information at the contact point. The specific determination method can be set according to actual needs, and this application does not limit it. In this case, the first tactile pressing operation and the second tactile pressing operation can be of the same type or different types. Relevant examples can be found in the foregoing content and will not be repeated here.

[0158] In some embodiments, the tactile pressing operation is a simple sketching operation performed on the somatosensory sensing device, mimicking the movement of living organisms. The interactive motion is the biomimetic motion corresponding to the simple sketching operation. Here, biomimetic motion is a type of motion in which a mobile robot imitates the movement of living organisms.

[0159] Alternatively, biomimetic motion can be either the motion that mimics the biological motion state corresponding to a simple sketch operation, or the motion that responds to the biological motion state corresponding to a simple sketch operation.

[0160] For example, a mobile robot moves along a trajectory that is the same as or similar to the movement trajectory of a simple line drawing on a motion-sensing device. For instance, if an operator draws a horizontal line on the motion-sensing device, the mobile robot shakes its head left and right.

[0161] For example, mobile robots can move by drawing simple instructions. For instance, if an operator writes the number 3 on a motion-sensing device, the mobile robot will perform the movement corresponding to the number 3.

[0162] For example, a mobile robot performing a simple sketch operation might generate force feedback motion corresponding to the biological motion state. If an operator quickly swipes across a motion-sensing device, the mobile robot might mimic the shaking sensation of being touched.

[0163] For example, a mobile robot can move based on the road conditions it is in, using a simple sketch to represent the same or opposite biological motion state as the operation. For instance, if the operator draws a parabola on the motion sensing device, the mobile robot will make a jump, and the jump height can be determined according to the current road conditions.

[0164] In summary, the motion control method for a mobile robot provided in this application involves installing a motion sensing device on the base to receive tactile pressing operations from the device, enabling the mobile robot to perform interactive movements corresponding to the tactile pressing operations. The motion sensing device can be considered as electronic skin on the base, and tactile pressing operations on this electronic skin provide a novel human-computer interaction method for the mobile robot.

[0165] During human-computer interaction, different tactile pressing operations on the motion sensing device can control the mobile robot to perform different interactive movements.

[0166] Based on the foregoing, the tactile pressing operation may optionally include at least one of the following operations: single-point pressing operation; continuous pressing operation. The interactive motion may optionally include one of the following motions: moving motion; turning motion; shaking motion; rotating motion; undulating motion; swaying motion.

[0167] The descriptions of the aforementioned tactile pressing operations and interactive movements are as described above and will not be repeated here. It should be understood that the aforementioned tactile pressing operations and interactive movements can be combined arbitrarily, and this application does not impose any limitations on this.

[0168] For example, Figure 16 The following illustrates various implementation methods of tactile pressing operations and interactive movements provided in an exemplary embodiment of this application:

[0169] I. Single-point press operation

[0170] 1. The tactile pressing operation includes a first single-point pressing operation, and the interactive motion includes a first moving motion.

[0171] Optionally, step 104 can be implemented as follows:

[0172] In response to the first single-point press operation, control the mobile robot to move a first distance in the forward direction.

[0173] Based on the foregoing, the first single-point press operation is an instantaneous touch on the first panel of the motion sensing device, which is the panel on the motion sensing device furthest from the direction of the mobile robot's movement. Taking a configuration of six panels arranged in two rows and three columns as an example, with the three panels in the first row close to the direction of the mobile robot's movement and the three panels in the second row close to the direction of the mobile robot's retreat, the first panel is the middle panel of the second row.

[0174] The first movement is used to indicate the movement of the mobile robot in the forward direction. The initial distance the mobile robot moves in the forward direction can be set according to actual needs. For example, the initial distance is 0.3 meters.

[0175] 2. Tactile pressing operation includes a second single-point pressing operation, and interactive motion includes a second movement motion.

[0176] Optionally, step 104 can be implemented as follows:

[0177] In response to the second single-point press operation, control the mobile robot to move a second distance backward;

[0178] Alternatively, in response to a second single-point press operation, the mobile robot is controlled to move backward a second distance, and after moving the second distance, the wheel unit is controlled to rotate, updating the backward direction to the forward direction of the mobile robot in the next moment.

[0179] As described above, the second single-point press operation is an instantaneous touch on the second panel of the motion sensing device, which is the panel on the motion sensing device that is furthest from the backward direction of the mobile robot. Taking a six-panel motion sensing device arranged in two rows and three columns as an example, with the three panels in the first row closer to the forward direction of the mobile robot and the three panels in the second row closer to the backward direction of the mobile robot, the second panel is the middle panel of the first row.

[0180] The second movement is used to instruct the mobile robot to move backward. The second distance the mobile robot moves backward can be set according to actual needs. For example, the second distance is 0.3 meters. It should be understood that the first and second distances can be the same or different.

[0181] In some embodiments, after the mobile robot moves a second distance in the backward direction, it can also be controlled to rotate 180 degrees to turn the mobile robot around, that is, update the backward direction to the forward direction of the mobile robot in the next moment.

[0182] 3. Tactile pressing operations include third single-point pressing operations, and interactive movements include turning movements.

[0183] Optionally, step 104 can be implemented as follows:

[0184] In response to the third single-point press operation, the wheel section is controlled to rotate to update the forward direction of the mobile robot to the rotation direction, which is the direction of the touch point position of the third single-point press operation relative to the center position of the motion sensing device.

[0185] As described above, the third single-point press operation is an instantaneous touch performed on the third panel of the motion sensing device. The third panel is the remaining panel on the motion sensing device excluding the first and second panels. Taking a configuration of six panels arranged in two rows and three columns as an example, with the three panels in the first row positioned closer to the robot's forward direction and the three panels in the second row positioned closer to the robot's backward direction, the first panel is the middle panel of the second row, and the third panel is one of the remaining four panels.

[0186] The turning motion is the rotation of the mobile robot, and the rotation angle does not exceed 180 degrees. The rotation angle of the mobile robot is determined based on the position of the touch point on the motion sensing device during the third single-point press operation.

[0187] Schematic illustration: the center position of the motion sensing device can be understood as the origin of the coordinate system on the motion sensing device (or base). The coordinate system on the motion sensing device (or base) is constructed as follows: a Cartesian coordinate system is established with the base as the horizontal plane, and the two coordinate axes pass through the midpoints of the four sides of the base. The positive X-axis points in the robot's forward direction.

[0188] For example, when an operator presses a point on a motion-sensing device, the touch point can be considered a point on a constructed Cartesian coordinate system, which can be represented by coordinates (x, y). Based on this, the angle formed by the line connecting the touch point and the origin with the positive X-axis is the rotation direction of the mobile robot during turning motion.

[0189] II. Continuous pressing operation

[0190] Based on the foregoing, the continuous pressing operation includes at least one of the following operations: a first continuous pressing operation, a second continuous pressing operation, a third continuous pressing operation, a fourth continuous pressing operation, and a fifth continuous pressing operation.

[0191] Among them, the first and second continuous pressing operations are straight lines drawn by the operator on the motion sensing device; the third, fourth and fifth continuous pressing operations are different curves drawn by the operator on the motion sensing device.

[0192] The following will describe in detail the five continuous pressing operations and their corresponding interactive movements.

[0193] 1. The tactile pressing operation includes a first continuous pressing operation, and the interactive motion includes a first shaking motion.

[0194] Indicatively, the first swaying motion is a motion in which the wheel section is swayed relative to the base section.

[0195] Optionally, step 104 can be implemented as follows:

[0196] In response to the first continuous pressing operation, the base is tilted in the first direction;

[0197] Control the wheel section to alternately change the leg height;

[0198] The first direction is the direction of the first initial contact point position on the motion sensing device relative to the center position of the motion sensing device during the first continuous pressing operation, and the alternating change of the leg height of the wheel part is determined according to the positions of at least two contact points corresponding to the first continuous pressing operation.

[0199] For example, the pattern corresponding to the first continuous pressing operation is a first straight line, and the direction of the first straight line is perpendicular to the forward direction of the mobile robot.

[0200] The first swaying motion is the swaying motion of the wheel section relative to the base section. It can also be understood as the left and right shaking motion of the mobile robot.

[0201] Taking a motion-sensing device divided into six sections arranged in two rows and three columns as an example, the three sections in the first row are close to the forward direction of the mobile robot, and the three sections in the second row are close to the backward direction of the mobile robot. The first continuous press operation can be performed on the three sections in the first row or on the three sections in the second row.

[0202] It is understandable that the first straight line can be drawn from left to right or from right to left. The starting point of the first straight line is the first initial contact point position of the first continuous press operation on the motion sensing device.

[0203] The center position of the motion sensing device can be understood as the origin of the coordinate system on the motion sensing device (or base), as described above. The direction of the first initial contact point relative to the origin is the first direction.

[0204] For example, if the first straight line is drawn from left to right, then the first initial contact point is located to the left of the origin, and the first direction is the leftward direction of the mobile robot. In the first swaying motion, the base first tilts to the left. As another example, if the first straight line is drawn from right to left, then the first initial contact point is located to the right of the origin, and the first direction is the rightward direction of the mobile robot. In the first swaying motion, the base first tilts to the right.

[0205] Indicatively, the first swaying motion can be achieved by the alternating extension and retraction of the legs of the two wheel sections of the mobile robot, that is, by controlling the wheel sections to alternately change the height of the legs. For example, by controlling the leg of the left wheel section to shorten and the leg of the right wheel section to extend, and then controlling the leg of the left wheel section to extend and the leg of the right wheel section to shorten in the next moment, the first swaying motion can be achieved by alternating control.

[0206] The alternating changes in leg height of the wheel section are determined based on at least two contact point positions corresponding to the first continuous pressing operation. The at least two contact point positions can be understood as the coordinates of at least two points in the coordinate system of the first continuous pressing operation on the motion sensing device (or base section).

[0207] It should be understood that the first continuous pressing operation corresponds to multiple contact points, and each contact point can be connected to the origin. The leg height of the wheel at a certain moment can be determined according to the angle between the connecting line and the positive axis of the X-axis. The larger the angle, the greater the change in leg height, and vice versa.

[0208] It should be understood that the alternating changes in the height of the legs on the wheel section determine the amplitude of the mobile robot's sway. As mentioned above, the amplitude of the mobile robot's sway is determined based on the first continuous pressing operation.

[0209] For example, the swaying amplitude of the mobile robot is determined based on at least one of the length of the first straight line, the position of the first initial contact point, and the drawing speed of the first straight line. Specifically, the tilt angle of the base is determined based on the length of the first straight line; the initial tilting direction of the base is determined based on the position of the first initial contact point; and the swaying speed of the mobile robot is determined based on the drawing speed of the first straight line.

[0210] For a description of the amplitude of the swaying, please refer to the aforementioned content, and it will not be repeated here.

[0211] Taking the initial and final contact positions of the first continuous pressing operation as an example, assuming the pattern corresponding to the first continuous pressing operation is a straight line drawn from left to right, connecting the coordinates of the left point to the origin yields the first line, and connecting the coordinates of the right point to the origin yields the second line. Based on the angles between the first and second lines and the positive X-axis, the limit variation value of the leg height of the wheel section can be determined. Specifically, the angle between the first line and the positive X-axis determines the maximum tilt of the mobile robot to the left, and the angle between the second line and the positive X-axis determines the maximum tilt of the mobile robot to the right.

[0212] Taking the first straight line drawn from left to right as an example, during the first swaying motion of the mobile robot, the base first tilts to the left; then, by controlling the alternating extension and retraction of the legs of the wheel sections on both sides of the mobile robot, the swaying of the robot's body is achieved. The amplitude of the swaying is determined based on the relevant information of the first straight line.

[0213] 2. The tactile pressing operation includes a second continuous pressing operation, and the interactive motion includes a second shaking motion.

[0214] Indicatively, the second swaying motion is a motion with the forward and backward directions of the mobile robot as the swaying directions.

[0215] Optionally, step 104 can be implemented as follows:

[0216] In response to the second continuous pressing operation, the first wheel leg support rod of the control wheel section shortens and the second wheel leg support rod extends, so that the base section tilts in the second direction;

[0217] Control the alternating extension and retraction of the first and second leg support rods;

[0218] The first wheel leg support rod is the rod in the wheel section that is close to the first position, and the second wheel leg support rod is the rod in the wheel section that is far from the first position. The first position is the second initial contact point position of the second continuous pressing operation on the motion sensing device, and the second direction is the direction of the second initial contact point position relative to the center position of the motion sensing device. The alternating change of the leg height of the wheel section is determined according to at least two contact point positions corresponding to the second continuous pressing operation.

[0219] For example, the pattern corresponding to the second continuous pressing operation is a second straight line, and the direction of the second straight line is the backward direction of the mobile robot.

[0220] The second swaying motion is a motion with the forward and backward directions of the mobile robot as the swaying direction. It can also be understood as the mobile robot nodding back and forth.

[0221] Taking a motion-sensing device divided into six sections arranged in two rows and three columns as an example, the three sections in the first row are close to the forward direction of the mobile robot, and the three sections in the second row are close to the backward direction of the mobile robot. The second continuous press operation can be performed on any of the three columns of sections.

[0222] It is understandable that the second straight line can be drawn from front to back or from back to front. The starting point of the second straight line is the second initial contact point position of the second continuous press operation on the motion sensing device.

[0223] The center position of the motion sensing device can be understood as the origin of the coordinate system on the motion sensing device (or base), as described above. The direction of the second initial contact point relative to the origin is the second direction.

[0224] For example, if the second straight line is drawn from front to back, then the first initial contact point is located in front of the origin, and the first direction is the forward direction of the mobile robot. In the first swaying motion, the base first tilts forward. Alternatively, if the second straight line is drawn from back to front, then the first initial contact point is located behind the origin, and the first direction is the backward direction of the mobile robot. In the first swaying motion, the base first tilts backward.

[0225] Schematic, the second swaying motion can be achieved by the alternating extension and retraction of two sets of wheel leg support rods on each wheel section, that is, by controlling the alternating extension and retraction of the first and second wheel leg support rods on each wheel section. For example, each wheel section includes a wheel leg support rod closer to the forward direction and a wheel leg support rod closer to the reverse direction. The wheel leg support rod closer to the forward direction can be controlled to shorten while the wheel leg support rod closer to the reverse direction is controlled to extend. At the next moment, the wheel leg support rod closer to the forward direction is controlled to extend while the wheel leg support rod closer to the reverse direction is controlled to shorten. This alternating control achieves the second swaying motion.

[0226] In some embodiments, the mobile robot is an underactuated system robot.

[0227] refer to Figure 1 Taking the underactuated system robot, specifically the wheeled-legged robot 10, as an example.

[0228] Taking the wheel section 12 on the right side of the wheel-legged robot 10 as an example, the wheel section 12 includes a thigh unit 121 and a lower leg unit 122. The thigh unit 121 is composed of two links, and the lower leg unit 122 is composed of two links. Among them, a thigh unit 121 and a lower leg unit located in the forward direction of the wheel-legged robot 10 constitute the first wheel-leg support link, which is composed of two links; a thigh unit 121 and a lower leg unit located in the backward direction of the wheel-legged robot 10 constitute the second wheel-leg support link, which is composed of two links.

[0229] The alternating extension and retraction of the first and second wheel leg support rods is determined based on the positions of at least two contact points corresponding to the second continuous pressing operation. These at least two contact point positions can be understood as the coordinates of at least two points in the coordinate system of the second continuous pressing operation on the motion sensing device (or base).

[0230] It should be understood that the second continuous pressing operation corresponds to multiple contact points, and each contact point can be connected to the origin. The extension and retraction of the first wheel leg support rod and the second wheel leg support rod at a certain moment can be determined according to the length of the connecting line. The longer the length, the greater the extension and retraction range, and vice versa.

[0231] It should be understood that the alternating extension and retraction of the first and second leg support rods determines the swaying amplitude of the mobile robot. Based on the foregoing, the swaying amplitude of the mobile robot is determined by the second continuous pressing operation.

[0232] For example, the swaying amplitude of the mobile robot is determined based on at least one of the length of the second straight line, the position of the second initial contact point, and the drawing speed of the second straight line. Specifically, the tilt angle of the base is determined based on the length of the second straight line; the initial tilting direction of the base is determined based on the position of the second initial contact point; and the swaying speed of the mobile robot is determined based on the drawing speed of the second straight line.

[0233] For a description of the amplitude of the swaying, please refer to the aforementioned content, and it will not be repeated here.

[0234] Taking the second initial contact position and the second final contact position of the second continuous pressing operation as an example, assuming the pattern corresponding to the second continuous pressing operation is a straight line drawn from front to back, then connecting the coordinates of the front point to the origin yields the first line, and connecting the coordinates of the rear point to the origin yields the second line. Based on the lengths of the first and second lines, the limit variation value of the leg height of the wheel section can be determined. Specifically, the length of the first line determines the maximum forward tilt of the mobile robot, and the length of the second line determines the maximum backward tilt of the mobile robot.

[0235] Taking the second straight line as an example, which is drawn from front to back, during the second swaying motion of the mobile robot, the robot first tilts forward; then, by controlling the alternating extension and retraction of the first and second wheel leg support rods, the robot's body sways. The amplitude of the sway is determined based on the relevant information of the second straight line.

[0236] 3. Tactile pressing operations include third continuous pressing operations, and interactive movements include body rotation movements.

[0237] Optionally, step 104 can be implemented as follows:

[0238] In response to the third consecutive press operation, the wheel section is controlled to rotate 360 ​​degrees.

[0239] For example, the pattern corresponding to the third consecutive press operation is a circle.

[0240] Based on the foregoing, the rotational motion can be understood as the mobile robot's forward and reverse rotation, with a rotation angle of 360 degrees. The forward and reverse rotation of the mobile robot is determined by the third consecutive press operation. For example, if the pattern corresponding to the third consecutive press operation is a clockwise circle, then the mobile robot will rotate one full circle clockwise. Conversely, if the pattern corresponding to the third consecutive press operation is a counter-clockwise circle, then the mobile robot will rotate one full circle counter-clockwise.

[0241] It should be understood that after the mobile robot performs a rotational movement, its forward direction remains unchanged. That is, the mobile robot's forward direction is the same before and after completing the rotational movement.

[0242] 4. Tactile pressing operations include a fourth continuous pressing operation, and interactive movements include undulating movements.

[0243] Optionally, step 104 can be implemented as follows:

[0244] In response to the fourth continuous pressing operation, the vertical height of the control wheel section is raised and then lowered until the mobile robot returns to the state before the fourth continuous pressing operation.

[0245] Alternatively, in response to the fourth continuous pressing operation, the handling height of the wheel section is lowered and then raised again until the mobile robot returns to the state before the fourth continuous pressing operation.

[0246] During the vertical lifting and lowering of the wheel section, the base section performs a translational movement.

[0247] For example, the pattern corresponding to the fourth consecutive press operation is a U-shape.

[0248] Based on the foregoing, the undulating motion can be understood as the crouching and standing motion of the mobile robot. The sequence of vertical height increases and decreases of the wheel section is determined by the fourth continuous pressing operation. For example, if the pattern corresponding to the fourth continuous pressing operation is a U-shaped curve with the opening facing forward, then the vertical height of the wheel section is controlled to first decrease and then increase until it returns to its previous height. Conversely, if the pattern corresponding to the fourth continuous pressing operation is a U-shaped curve with the opening facing backward, then the vertical height of the wheel section is controlled to first increase and then decrease until it returns to its previous height.

[0249] It should be understood that the mobile robot's height remains unchanged after it performs undulating motion. In other words, the mobile robot's height remains consistent before and after completing the undulating motion.

[0250] 5. Tactile pressing operations include the fifth continuous pressing operation, and interactive movements include rocking movements.

[0251] Indicatively, the swaying motion is a motion in which the direction of the swaying part is relative to the base part.

[0252] Optionally, step 104 can be implemented as follows:

[0253] In response to the fifth continuous press operation, the control wheel section alternately changes the leg height at a fixed height, so that the body of the mobile robot tilts and sways.

[0254] For example, the pattern corresponding to the fifth consecutive press operation is a heart shape.

[0255] As described above, the swaying motion is similar to the first shaking motion, both being left and right head movements of the mobile robot. The difference is that the amplitude of the first shaking motion is determined by the first continuous pressing operation, while the amplitude and / or speed of the swaying motion are fixed. This can be understood as follows: during the swaying motion, the wheel section alternately changes the leg height at a fixed height and / or swaying speed, causing the mobile robot to sway its body with a fixed amplitude and / or a fixed speed.

[0256] The initial tilt direction of the mobile robot's body is determined by the fifth continuous press operation. For example, if the pattern corresponding to the fifth continuous press operation is a heart shape drawn from left to right, the base will tilt to the left first. Conversely, if the pattern corresponding to the fifth continuous press operation is a heart shape drawn from right to left, the base will tilt to the right first.

[0257] In summary, the motion control method for mobile robots provided in this application provides a one-to-one correspondence between tactile pressing operations and interactive movements, thereby offering more possibilities for human-computer interaction and improving the variety and flexibility of mobile robot movements to provide operators with a human-like experience.

[0258] In some embodiments, there is a time difference between the interactive movement of the mobile robot and the tactile pressing operation, and they are not performed synchronously. For example, the mobile robot performs a rotational movement after the circle drawing operation is completed. In other embodiments, there is no time difference between the interactive movement of the mobile robot and the tactile pressing operation, and they can be performed synchronously. For example, the mobile robot sways left and right in response to the operator's operation of drawing a horizontal line.

[0259] It should be understood that the above correspondence between multiple tactile pressing operations and interactive movements is only an example, and other combinations are within the scope of protection of this application, and will not be described in detail here.

[0260] Furthermore, as mentioned above, under the same type of tactile pressing operation, different interactive movements can be determined based on the different contact point positions and / or the force information of the contact points. Taking the third continuous pressing operation as an example, the rotation speed of the mobile robot can be determined based on the pressing force of the contact points obtained from the continuous pressing operation. Specifically, under the first pressing force, the mobile robot is controlled to rotate at a first rotation speed; under the second pressing force, the mobile robot is controlled to rotate at a second rotation speed, where the first pressing force is greater than the second pressing force, and the first rotation speed is greater than the second rotation speed.

[0261] It should be understood that the above content is merely an example. For the same type of tactile pressing operation, the interactive motion performed by the mobile robot can be determined based on at least one of the following information: the position of the contact point, the magnitude of the pressing force, the angle of force applied to the contact point, and the direction of force applied to the contact point. Any similar motion control methods for mobile robots and their simple variations, or the addition of other reference information related to tactile pressing operations to determine the specific type of interactive motion, are all within the scope of protection of this application.

[0262] Based on the foregoing, tactile pressing is a simple sketching operation performed by the operator on a somatosensory sensing device, mimicking biological movement states. One type of tactile pressing corresponds to a specific sketching method for a biological movement state. This can be understood as one sketching operation corresponding to one biological movement state. The following description will use the example of tactile pressing as a simple sketching operation mimicking biological movement states on a somatosensory sensing device:

[0263] based on Figure 15 , Figure 17 A flowchart illustrating a motion control method for a mobile robot provided in an exemplary embodiment of this application is shown. Step 102 can be implemented as step 1021, and step 104 can be implemented as step 1041, as detailed below:

[0264] Step 1021: Receive a simple sketch operation from the motion sensing device.

[0265] In illustrative terms, sketching is an operation in which an operator draws dots or lines on a motion-sensing device. For ease of understanding, sketching can be viewed as a process of drawing simple sketches on a motion-sensing device to depict patterns corresponding to the movement states of organisms.

[0266] The simplified sketching methods include at least one of single-point drawing, straight-line drawing, and curved-line drawing, with each simplified sketching method corresponding to a biological motion state. It should be understood that the correspondence between simplified sketching methods and biological motion states can be interpreted in several ways:

[0267] • A simple sketch method is used to indicate the movement state of an organism, such as drawing a number to indicate the movement state of the organism corresponding to that number;

[0268] • The touch point position and / or line trajectory in the simplified sketch method are the same as the biological motion state, such as drawing a circle to indicate the biological motion state of rotating once.

[0269] Step 1041: In response to the sketching operation, control at least one of the wheel section and the base section to move, so as to control the mobile robot to perform the biomimetic motion corresponding to the sketching operation while maintaining the body balance.

[0270] In a schematic sense, biomimetic motion is motion that mimics the biological motion state corresponding to a simple sketch operation, or, biomimetic motion is motion that responds to the biological motion state corresponding to a simple sketch operation.

[0271] Among them, imitation means that the trajectory of biomimetic motion is the same as that of biological motion; response means that the trajectory of biomimetic motion is affected by biological motion. It can be feedback to biological motion, motion determined after considering road conditions, or motion that is opposite to biological motion.

[0272] Optionally, when the biomimetic motion is the motion that mimics the biological motion state corresponding to a simple line drawing operation, step 1041 can be implemented as follows:

[0273] In response to the sketch operation, the mobile robot is controlled to move along the same trajectory as the sketch operation on the motion sensing device while maintaining its balance.

[0274] This can be understood as follows: based on the simple sketching operation, a simple sketching method can be determined, thereby determining the corresponding biological motion state. Subsequently, if the method of imitating the biological motion state is adopted, the mobile robot is controlled to move along the same motion trajectory as the simple sketching operation on the motion sensing device.

[0275] For example, drawing a vertical line from front to back on a motion-sensing device.

[0276] In one optional implementation scenario, the biological motion state can be determined as a nodding state. Then, the mobile robot can be controlled to make a shaking motion based on information such as the length of the vertical line, the drawing speed, and the initial contact point position, so that the mobile robot presents a human-like nodding motion state.

[0277] In another alternative implementation scenario, the biological motion state can be defined as a backward state, and then the mobile robot can be controlled to move backward a certain distance, so that the mobile robot presents a human-like motion state of taking a step back.

[0278] Optionally, if the biomimetic motion is the motion in response to the biological motion state corresponding to the sketching operation, step 1041 can be implemented as follows:

[0279] In response to the simple line drawing operation, the mobile robot is controlled to move in a way that uses the simple line drawing operation instructions while maintaining the balance of the body.

[0280] Alternatively, in response to the sketching operation, control the mobile robot to perform force feedback motion of the biological motion state corresponding to the sketching operation while maintaining the body balance.

[0281] Alternatively, in response to the sketch operation, the mobile robot can be controlled to move in the same or opposite biological motion state corresponding to the sketch operation, while maintaining its balance, based on the environmental information of the robot's environment. The environmental information includes information such as road conditions, surrounding obstacles, and weather conditions.

[0282] This can be understood as follows: based on the operation of simple line drawing, a simple line drawing method can be determined, thereby determining the corresponding biological motion state. Subsequently, if a method of responding to the biological motion state is adopted, the mobile robot can be controlled to perform different biomimetic movements based on the biological motion state.

[0283] For example, this biomimetic motion could be indicated by a simple line drawing. For instance, an operator could write the number 3 on a motion-sensing device and control a mobile robot to perform the motion corresponding to that number.

[0284] For example, this biomimetic motion can also be a feedback mechanism to the movement state of a living organism. For instance, if an operator quickly swipes across a motion-sensing device, the mobile robot mimics the shaking motion of being bumped by someone.

[0285] For example, this biomimetic motion can also be a motion determined after considering environmental information, and the action can be the same as or the opposite of a biological motion state. For instance, an operator draws a parabola on a motion sensing device, and the mobile robot performs a jump. The jump height can be determined based on the current environmental information.

[0286] The environmental information of the mobile robot can be determined through one of the following methods: accessing map information of the mobile robot's current location, acquiring visual signals from the mobile robot, or performing Simultaneous Localization and Mapping (SLAM) based on the mobile robot's historical movement paths. For example, the mobile robot's controller can request map information to access an existing map; alternatively, the mobile robot can acquire visual signals through sensors such as LiDAR and / or cameras to determine its current environmental information; or, the mobile robot can build a map of its current environment based on its historical movement paths to obtain the current environmental information.

[0287] Optionally, the mobile robot's body balance is maintained through control using a full-body dynamics model. The full-body dynamics model of the mobile robot will be described in detail below.

[0288] In summary, the motion control method for mobile robots provided in this application further defines the type of tactile pressing operation and controls the mobile robot to perform biomimetic motion based on simple line drawing operations.

[0289] Optionally, biomimetic motion can be either mimicking the biological motion state corresponding to a simple sketch operation, or it can be motion responding to the biological motion state corresponding to a simple sketch operation. Based on the above-mentioned multiple optional implementation methods, the types of interactive motions of mobile robots can be further enriched, and the flexibility of mobile robots can be improved.

[0290] based on Figure 15 , Figure 18 The flowchart illustrates a motion control method for a mobile robot provided in an exemplary embodiment of this application. Step 104 can be implemented as either step 1042 or step 104. The motion control method for a mobile robot provided in this embodiment of the application further includes step 103. Steps 1042 and 103 are selectively executed, as detailed below:

[0291] Step 1042: In response to tactile pressing operations, control the mobile robot to perform interactive movements based on the force information on the wheel section.

[0292] Among them, the force information is used to indicate at least one of the force magnitude, force direction and force angle on the wheel section.

[0293] In some embodiments, a motion sensing device can also be covered on the wheel section to enable interactive movement of the mobile robot's wheel section. For example, a motion sensing device can be installed at the joint position of the thigh and lower leg units of the wheel section. When the operator continuously presses the motion sensing device, the mobile robot can be controlled to make a sideways movement, and the direction of the sideways movement is consistent with the direction of the operator's press.

[0294] Optionally, a first somatosensory sensing device is externally disposed at the location where the wheel section connects to the base section, a second somatosensory sensing device is externally disposed at the joint location of the wheel section, and a third somatosensory sensing device is externally disposed at the wheel of the wheel section. The motion control method for the mobile robot provided in this application embodiment further includes:

[0295] Acquire force information on at least one of the first, second, and third somatosensory sensing devices;

[0296] Based on the force information, control the mobile robot to perform interactive movements targeting the wheels.

[0297] Among them, the interactive motion of the wheel section is used to indicate the movement, tilting and other movements of the wheel section. This type of interactive motion does not involve the control of the base section. The base section can passively adjust its posture based on its connection with the wheel section so that the mobile robot can maintain its body balance.

[0298] It should be understood that interactive movements targeting the wheels are one type of interactive movement for a mobile robot. At any given moment, a mobile robot may perform interactive movements targeting the wheels, or interactive movements corresponding to tactile pressing operations; the two cannot be performed simultaneously.

[0299] In some embodiments, after acquiring the force information, the mobile robot can be controlled to perform interactive movements corresponding to the tactile pressing operation based on the tactile pressing operation and taking the force information into account. The interactive movements can fully consider the force situation of the wheel section to ensure the balance control of the mobile robot.

[0300] For example, the operator draws a circle on the motion sensing device mounted on the base. The second motion sensing device at the joint position of the left wheel receives resistance information. Based on this, the mobile robot can be controlled to perform a rotational movement. It should be understood that during this rotational movement, the wheel will no longer rotate 360 ​​degrees; its rotation angle is determined based on the resistance information to prevent the mobile robot from tipping over due to the resistance at the joint position of the left wheel.

[0301] Step 103: Environmental information of the mobile robot displayed on the motion sensing device.

[0302] Indicatively, environmental information is used to indicate road conditions, surrounding obstacles, weather, and other information relevant to the mobile robot. This environmental information can be determined through one of the following methods:

[0303] • Access map information showing the location of the mobile robot;

[0304] Mobile robots can request map information from external devices (such as controllers) to access and use existing maps.

[0305] • Acquire visual signals from the mobile robot;

[0306] The mobile robot is equipped with sensing devices such as lidar and / or cameras. Based on the information collected, analyzed and processed by the sensing devices, the current environmental information of the mobile robot is determined based on the visual signals of the mobile robot.

[0307] • SLAM is performed based on the historical movement paths of the mobile robot.

[0308] Schematic, SLAM can be described as follows: A robot starts moving from an unknown location in an unknown environment, performs self-localization based on its position and a map during the movement, and builds an incremental map based on its self-localization to achieve autonomous localization and navigation. In other words, the mobile robot has map-building capabilities. Specifically, the mobile robot can build a map of its current environment based on its historical movement paths, thereby obtaining information about its current environment.

[0309] In a demonstrative way, after determining the environmental information, it can be displayed to the operator in a visual manner. For example, the environmental information can be displayed as a thumbnail on a motion-sensing device, and the operator can perform tactile pressing operations on the environmental information to control the mobile robot to perform interactive movements.

[0310] Step 1043: In response to tactile pressing operations based on environmental information, control the mobile robot to perform interactive movements.

[0311] Similar to step 1042, after determining the environmental information of the mobile robot, the mobile robot can be controlled to perform interactive movements by tactile pressing operations on the environmental information.

[0312] For example, by accessing map information showing the mobile robot's location, a thumbnail of the robot's current environment can be displayed on a motion-sensing device. The operator then draws lines on the displayed map to control the mobile robot, guiding it along the trajectory of the drawn lines until it reaches the location corresponding to the endpoint of the line.

[0313] For example, using sensing devices such as LiDAR and / or cameras, a thumbnail of environmental information along the direction of the mobile robot's movement can be displayed on a motion-sensing device. The operator then draws lines on the displayed road conditions to control the mobile robot to move along the trajectory of the drawn lines until it reaches the position corresponding to the endpoint of the line.

[0314] Optionally, if there is an obstacle at the end of the line, the mobile robot can be controlled to perform interactive movements such as crossing the obstacle or picking up objects. For example, if the end of the line is a cup, the mobile robot can be controlled to move in front of the cup and use the robotic arm installed on the mobile robot to perform a gripping action on the cup.

[0315] It should be understood that steps 1042 and 1043 can be implemented in combination. For example, step 104 can also be implemented as follows: in response to a tactile pressing operation, based on the force information on the vehicle and / or the road conditions where the mobile robot is located, control the mobile robot to perform interactive movements.

[0316] The force information on the wheels and the description of the road conditions where the mobile robot is located can be found in the aforementioned content and will not be repeated here.

[0317] In summary, the motion control method for mobile robots provided in this application embodiment offers a way to cover key positions of the wheel section with a motion sensing device, thereby providing a new interaction method for the wheel section of the mobile robot.

[0318] Optionally, the mobile robot can be controlled to perform interactive movements corresponding to tactile pressing operations based on at least one somatosensory sensing device covered on a key position of the wheel and / or environmental information of the mobile robot. This makes the mobile robot more flexible, more precise in control, and provides more possibilities for interactive movements of the mobile robot.

[0319] It should be understood that the various embodiments of interactive motion given above can be combined to implement them, and any combination of implementation methods is within the scope of protection of this application, which will not be elaborated further.

[0320] based on Figure 15 , Figure 19 This is a flowchart of a motion control method for a mobile robot provided in an exemplary embodiment of this application. Step 104 can be implemented as steps 105, 106, and 107, as detailed below:

[0321] Step 105: In response to a tactile press operation, determine the target posture sequence signal corresponding to the tactile press operation.

[0322] The description of the tactile pressing operation can be found in the foregoing content and will not be repeated here.

[0323] Indicatively, the target posture sequence signal is used to describe the physical and force information of the tactile pressing operation. Based on the motion sensing device installed on the base, when the operator presses the device at a single point, in a straight line, or along a curve, the target posture sequence signal corresponding to the tactile pressing operation can be obtained based on the touch detection on the motion sensing device.

[0324] Optionally, the target attitude sequence signal includes at least one of the following:

[0325] • The contact coordinates of at least one contact point on the motion sensing device;

[0326] • The contact angle of at least one contact point;

[0327] • At least one contact point is located in a segment of the segment, and the motion sensing device divides the segment into two or more segments;

[0328] • Force information at at least one contact point, including at least one of the force magnitude, force direction, and force angle.

[0329] It should be understood that at least one contact point is at least one contact point of a tactile pressing operation on a somatosensory sensing device. In addition, all expressions related to "contact point" mentioned above can be understood as contact points.

[0330] To illustrate, to achieve touch detection on a motion sensing device, the device can be divided into two or more sections. Target posture sequence signals are obtained through detection on each section. After further dividing the device into sections, the sections can be numbered sequentially. A section identifier for at least one contact point is used to indicate the section numbering information for that contact point.

[0331] The segmentation of the motion-sensing device can be configured according to actual needs. Based on the eight interactive movements exemplified above, the motion-sensing device can be divided into six segments. It should be understood that as the correspondence between tactile press operations and interactive movements increases, the touchpad can be divided into even more segments. For example, if there are n tactile press operations and n corresponding interactive movements, the touchpad can be divided into m segments based on the recognition requirements of the n tactile press operations. This can be understood as requiring signal analysis from at least m segments to identify each of the n tactile press operations.

[0332] The contact coordinates and contact angle of at least one contact point can be determined by a coordinate system on the motion sensing device (or base). For example, the coordinate system on the motion sensing device (or base) is constructed as follows: a Cartesian coordinate system is established with the base as the horizontal plane, and two coordinate axes pass through the midpoints of the four sides of the base, with the positive X-axis pointing in the robot's forward direction.

[0333] At least one contact point is a point on the constructed rectangular coordinate system, and the contact point coordinates can be represented by coordinates (x, y). The contact angle can be determined as follows: draw a line connecting the contact point position and the origin position, and the angle formed by this line and the positive axis of the X-axis is the contact angle.

[0334] Based on touch detection on the motion sensing device, force information at at least one contact point can be obtained. This force information includes at least one of the following: force magnitude, force direction, and force angle.

[0335] Optionally, step 105 can be implemented as follows:

[0336] In response to tactile pressing operations, the target posture sequence signal is determined by analyzing single-point or continuous multi-point signals through a somatosensory sensing device.

[0337] Figure 20 A schematic diagram illustrating various signal parsing methods provided in an exemplary embodiment of this application is shown.

[0338] Upon receiving an electrical signal from the motion sensing device, it can perform single-point signal analysis or continuous multi-point signal analysis.

[0339] Optionally, single-point signal analysis includes at least one of contact point coordinate recognition, contact point angle recognition, and plate marking recognition; continuous multi-point signal analysis includes contact point trajectory recognition.

[0340] Among them, contact point coordinate recognition is used to identify the contact point coordinates of at least one contact point, contact point angle recognition is used to identify the contact angle of at least one contact point, plate identifier recognition is used to identify the plate identifier of the plate where at least one contact point is located, and contact point trajectory recognition is used to identify the movement trajectory formed by tactile pressing operation on the somatosensory sensing device.

[0341] In single-point signal analysis, based on touch point coordinate identification, coordinate point trajectory tracking can be performed to determine whether the tactile pressing operation is a first or second continuous pressing operation, thereby controlling the mobile robot to perform a first or second wobbling motion. Based on touch point angle identification, touch point angle tracking can be performed to determine whether the tactile pressing operation is a third single-point pressing operation, thereby controlling the mobile robot to perform a turning motion. Based on plate identifier identification, the plate identifier corresponding to the plate where the touch point is located can be determined. Thus, based on plate identifier 1, the tactile pressing operation is determined as a first single-point pressing operation, and based on plate identifier 2, the tactile pressing operation is determined as a second single-point pressing operation, thereby controlling the mobile robot to perform a first or second moving motion.

[0342] In continuous multi-point signal analysis, based on touch point trajectory recognition, the trajectory of the touch point can be determined to be one of the first trajectory, the second trajectory, and the third trajectory. This determines whether the tactile pressing operation is one of the third, fourth, or fifth continuous pressing operations, thereby controlling the mobile robot to perform one of the following movements: rotation, undulation, or swaying. The first, second, and third trajectories can be set according to actual needs.

[0343] Compared to single-point signal analysis, continuous multi-point signal analysis also includes a keyframe identification step, which determines the specific type of the trajectory by identifying key points in the touch point trajectory. For example, keyframe identification can be performed based on the order of the panel identifiers. For instance, the specific type of the trajectory can be determined based on the order of the panel identifiers and the information of the key points on each panel. The key points on each panel can be arbitrarily selected, or determined according to a selection rule.

[0344] It should be understood that, Figure 20 These are merely examples of the aforementioned exemplary embodiments. If other tactile pressing operations and interactive motion correspondences are used, the signal analysis for the motion sensing device is similar and can be used as a reference.

[0345] Based on the foregoing, target posture sequence signals can be obtained through touch detection on a motion sensing device. Illustratively, touch detection on a motion sensing device includes single-point touch detection and multi-point touch detection, and these two types of touch detection can be further refined into various detection methods. The following provides a detailed description of the various touch detection methods on a motion sensing device:

[0346] 1. Single-point touch detection.

[0347] For example, single-point touch operation includes single-point single-touch detection and unsequential continuous single-point touch detection. Among them, Figure 21 This illustration shows a schematic diagram of single-point single-touch detection provided in an exemplary embodiment of this application; Figure 22A schematic diagram of unsequential continuous single-point touch detection provided in an exemplary embodiment of this application is shown.

[0348] refer to Figure 21 The motion sensing device is divided into six sections arranged in two rows and three columns. The three sections in the first row are positioned closer to the forward direction of the mobile robot, and the three sections in the second row are positioned closer to the backward direction of the mobile robot. The six sections are labeled as six regions from ① to ⑥. The origin point on the motion sensing device is the midpoint of the edge connecting sections ② and ⑤.

[0349] refer to Figure 21 In single-point, single-touch detection, the feedback information obtained includes at least: panel identification and touch angle.

[0350] For example, if the plate identifier is ②, the mobile robot is controlled to move forward a first distance; if the plate identifier is ⑤, the mobile robot is controlled to move backward a second distance; if the plate identifier is one of ①③④⑥, the mobile robot is controlled to perform a turning movement, and the forward direction of the mobile robot is determined as the direction of the touch point relative to the origin position on the motion sensing device.

[0351] refer to Figure 22 In unsequential continuous single-point touch detection, the feedback information obtained includes at least the touch coordinates of at least two touch points.

[0352] For example, if the contact coordinates of at least two contact points are used to indicate that the tactile pressing operation is a continuous touch from left to right on the somatosensory sensing device, then the control base first tilts to the left, and then the robot moves to make a first wobbling motion; if the contact coordinates of at least two contact points are used to indicate that the tactile pressing operation is a continuous touch from right to left on the somatosensory sensing device, then the control base first tilts to the right, and then the robot moves to make a first wobbling motion.

[0353] Similarly, if the contact coordinates of at least two contact points are used to indicate that the tactile pressing operation is a continuous touch from front to back on the somatosensory sensing device, then the control base first tilts forward, and then the robot moves to make a second wobbling motion; if the contact coordinates of at least two contact points are used to indicate that the tactile pressing operation is a continuous touch from back to front on the somatosensory sensing device, then the control base first tilts backward, and then the robot moves to make a first wobbling motion.

[0354] It should be understood that single-point touch detection is for the purpose of single-point signal analysis, and its detection results are used to achieve at least one of touch point coordinate recognition, touch point angle recognition, and panel marking recognition.

[0355] 2. Multi-touch detection.

[0356] For example, multi-touch operations include sequential multi-touch detection and sequential multi-touch continuous detection. Among them, Figure 23 This illustration shows a schematic diagram of sequential multi-touch detection provided in an exemplary embodiment of this application; Figure 24 This illustration shows a schematic diagram of sequential multi-point continuous touch detection provided in an exemplary embodiment of this application.

[0357] and Figure 21 similar, Figure 23 and Figure 24 The motion sensing device is still divided into 6 sections, and the 6 sections are labeled as 6 areas from ① to ⑥. The origin point on the motion sensing device is the midpoint of the edge where section ② and section ⑤ meet.

[0358] refer to Figure 23 In sequential multi-touch detection, the feedback information obtained includes at least: panel identifier and touch angles of at least two touch points.

[0359] For example, if the order of the panel labels is ④①②③⑥ or ⑥③②①④, the height of the mobile robot is controlled to first decrease and then increase until it returns to its original height; if the order of the panel labels is ①④⑤⑥③ or ③⑥⑤④①, the height of the mobile robot is controlled to first increase and then decrease until it returns to its original height; if the order of the panel labels is ⑤②⑤②, the mobile robot is controlled to rotate clockwise one full circle; if the order of the panel labels is ②⑤②⑤, the mobile robot is controlled to rotate counterclockwise one full circle.

[0360] refer to Figure 24 In sequential multi-point continuous touch detection, the feedback information obtained includes at least: panel identifier and touch angles of at least two touch points.

[0361] For example, if the order of the panel labels is ②③⑥⑤④①, then the mobile robot is controlled to swing its body at a fixed amplitude and / or a fixed speed, with the base tilting to the right first; if the order of the panel labels is ①④⑤⑥③②, then the mobile robot is controlled to swing its body at a fixed amplitude and / or a fixed speed, with the base tilting to the left first.

[0362] It should be understood that multi-touch detection is used to analyze continuous multi-point signals, and the detection results are used to recognize touch point trajectories. Multi-touch detection includes a keyframe recognition process. After determining the order of the panel markers, by comparing with preset sequence information and combining the information of key points on each panel, the specific type of tactile pressing operation on the motion sensing device can be determined, thereby enabling the mobile robot to perform the corresponding interactive movement.

[0363] The above embodiments are merely illustrative examples and do not limit the scope of this application.

[0364] It should be understood that, based on other feedback information, the mobile robot can also be controlled to perform other interactive movements, and these correspondences are all within the scope of protection of this application. For example, in a fixed sequence of multi-point continuous touch detection, if the order of the panel labels is ⑤②, the mobile robot is controlled to move forward for 2 seconds; if the order of the panel labels is ②⑤, the mobile robot is controlled to move backward for 2 seconds.

[0365] In some embodiments, based on the four touch detection methods described above, force information of at least one contact point can be obtained, including at least one of the force magnitude, force direction, and force angle of at least one contact point.

[0366] Schematic illustration: the obtained feedback information can be transformed into contact position coordinates using the contact position and / or force information of at least one contact point to determine the corresponding state information. Contact position coordinate transformation refers to the process of converting the position information and / or force information of the contact point into state information.

[0367] Schematic illustration: Positional information and / or force information of the contact point can be obtained through a motion sensing device. By transforming the contact position coordinates, the correspondence between the force signal change unit and the position of the pressure sensor array on the upper surface of the base can be described. The relationship between the position of the upper surface of the base and the center of mass of the mobile robot is known. Through coordinate conversion, the contact point between the upper surface of the base and the load object can be obtained, relative to the positional relationship between the load object and the center of mass.

[0368] According to the foregoing, the motion sensing device includes a pressure sensor array arranged in an m×n matrix, the length and width of which are adapted to the upper surface of the base, where m and n are positive integers.

[0369] When a pressure point is applied to a pressure unit, its pressure value changes. Each unit can output its own corresponding pressure value, while the pressure value of unpressed units is 0 or a very small noise value, which needs to be filtered out. This process can be viewed as a signal conditioning process.

[0370] Optionally, signal conditioning includes, but is not limited to, using at least one of the following methods: averaging, force distribution calculation, and threshold filtering.

[0371] The process involves several key elements: averaging, force distribution, and threshold filtering. First, averaging the pressure values ​​over a given range (e.g., a 4x4 dot matrix or several points within a circular area) and assuming the contact point between the load and the robot is at the center of these points. Second, force distribution involves representing the pressure values ​​within a given range as a distribution. The force values ​​can be integrated to obtain the magnitude and location of the forces, which are then used to determine the state of the load. Third, threshold filtering addresses the possibility of false detections by pressure sensors, which may detect noise even when no force is applied. A threshold is set based on this threshold; if the detected pressure value is below this threshold, the sensor is considered not triggered.

[0372] After signal conditioning, force information at at least one contact point can be obtained.

[0373] It should be understood that the above is a simple example of the signal conditioning process and does not limit this application.

[0374] Step 106: Determine the interactive reference signal corresponding to the target attitude sequence signal based on the target attitude sequence signal.

[0375] Indicatively, the target attitude sequence signal uniquely corresponds to one interactive reference signal.

[0376] After determining the target posture sequence signal, the corresponding interactive reference signal can be uniquely determined according to a preset correspondence. Illustratively, the interactive reference signal is used to instruct the mobile robot to perform interactive movements, and includes at least information such as joint torque, joint angle, joint angular velocity, joint angular acceleration, and base tilt angle.

[0377] The correspondence between the target posture sequence signal and the interactive reference signal can be preset according to actual needs. For example, if the pattern corresponding to the tactile pressing operation determined by the target posture sequence signal is a U-shaped curve, then the interactive reference signal is determined to be the signal corresponding to the undulating motion.

[0378] Step 107: Control the mobile robot to perform interactive movements based on the interactive reference signal.

[0379] Among them, during the interactive movement of the mobile robot, the whole-body dynamics control of the mobile robot can be achieved through the whole-body dynamics model.

[0380] Optionally, step 107 can be implemented as follows:

[0381] Using interactive reference signals and the whole-body dynamics model of the mobile robot as inputs to a closed-loop proportional-integral-derivative PID controller, the torque information of the base and / or wheel section is determined.

[0382] Based on the torque information, the mobile robot is controlled to perform interactive movements.

[0383] In some embodiments, the mobile robot is an underactuated system robot, and the control of the whole-body dynamics model of the underactuated system robot will be specifically described below.

[0384] Taking the implementation of whole-body dynamics control through a balance controller as an example, the interactive reference signal is input into the balance controller of the underactuated system robot, and the control reference signal generated by the corresponding whole-body dynamics model is output to drive at least one of the base and wheel parts.

[0385] The control reference signals include, but are not limited to, at least one of the following signals: a reference signal for wheel rotation, a reference signal for base posture, and a reference signal for tail posture. The balance controller outputs torque information for each joint, and the movement of the base and / or wheel can be determined based on the determined torque information.

[0386] Optionally, the balance controller is a PID controller.

[0387] It should be understood that the whole-body dynamics model can be determined according to the Lagrange equation or the Newton-Euler equation, or the whole-body dynamics model can be determined according to other methods. The following is only an example and does not limit this application.

[0388] Optionally, the whole-body dynamics model can be constructed based on the driving torque, ground friction, and closed-loop force of the underactuated robot system.

[0389] Schematic, taking τ as the driving torque of an underactuated robot system, f as the ground friction force, and λ as the closed-loop force as an example, the whole-body dynamics model of an underactuated robot system can be expressed as follows:

[0390]

[0391] Where q represents the generalized joint angle coordinates of the underactuated robot system, which can be expressed as: This includes the position of the base, the number of joint angles, and the joint angles. Indicates the pose of the base, n j Indicates the number of joint angles. Indicates the joint angle. For generalized joint velocity, This refers to generalized joint acceleration; It is a quality matrix. It consists of gravity, centrifugal force, and Coriolis term. It is the matrix of the driving joints selected from all joints, where f is the ground contact force. It is a cascaded contact Jacobian matrix. It is the contact Jacobian matrix used in the closed-loop link connection constraint. Where n C n represents the number of contact points between the wheel and the ground. λ =2 represents the number of contact points between open-loop links considering the closed-loop constraints of a five-bar linkage, i.e. Figure 25 Between P1 and P2 in the middle.

[0392] Figure 25 This illustration shows a generalized coordinate diagram of a mobile robot provided in an exemplary embodiment of this application. The mobile robot is an underactuated system robot. The joint angle q... i and driving torque τ i Marked around the joint. q {·,·} and τ {·,·} The two subscripts take into account the joint indexes of the left and right legs respectively. Figure 25 Only the connections and joints on the left leg are marked; the right leg is symmetrical to the left and can be used for reference. Additionally, for clarity, Figure 25 The two joint angles q at the tail are omitted. 11 q 12 And driving torques τ7 and τ8.

[0393] Based on the whole-body dynamics model of underactuated system robots It can determine control reference signals for the wheel section and / or base section, such as torque information.

[0394] Optionally, the values ​​of the driving torque τ, ground friction force f, and closed-loop force λ that minimize the whole-body dynamics model can be determined using the argmin function, thereby determining the control reference signals for the wheel section and / or the base section. The argmin function can be expressed as follows:

[0395]

[0396] In determining the variable values ​​of driving torque τ, ground friction force f, and closed-loop force λ, it is necessary to impose conditional constraints on the underactuated robot system.

[0397] Optionally, the whole-body dynamics model is subject to dynamics model constraints, which include reference values ​​for tilt angle acceleration.

[0398] The constraints of the dynamic model are expressed as follows: For a description of this constraint, please refer to the foregoing content, and it will not be repeated here.

[0399] In addition to the constraints imposed by the dynamic model, the underactuated robot system is also subject to at least one of the following constraints:

[0400] Closed-loop linkage constraint;

[0401] The wheels are restrained so they do not slip or leave the ground;

[0402] Friction constraint.

[0403] in:

[0404] Closed-loop link constraints can be expressed as: in, and These are the Jacobian matrices for points P1 and P2, respectively.

[0405] Assuming the wheel rolls purely and is in contact with the ground, with no radial or axial slippage, the constraint that the wheel does not slip or leave the ground can be expressed as: in, It is the Jacobian matrix of the wheel-ground contact point relative to the base.

[0406] Local coordinate system f for each contact force i In the equation, given the friction coefficient μ, the friction constraint can be formulated as |f i,x |≤μf i,z and |f i,y |≤μf i,z A one-sided constraint can be expressed as f i,z >0.

[0407] In summary, in the motion control method for mobile robots provided in this application embodiment, the target posture sequence signal and the interaction reference signal can be determined sequentially based on the tactile pressing operation. Then, the control reference signals of the base and / or the wheel are obtained through the whole-body dynamics model, thereby realizing the control of the base and / or the wheel to achieve the interactive motion of the mobile robot.

[0408] Optionally, this application also provides an implementation of a whole-body dynamics model for an underactuated robot. It should be understood that the above content is merely illustrative, and any formula modifications or additions / reductions of commonly used variables based on the above content are included within the scope of protection of this application.

[0409] Figure 26 A diagram illustrating the overall control framework of a mobile robot provided in an exemplary embodiment of this application is shown.

[0410] Among them, the mobile robot is a wheeled-legged robot in the underactuated system robot type. The wheeled-legged robot includes a balance controller and a human-machine interaction module. The balance controller is used to complete the cycle of balance angle reference to realize the body balance of the wheeled-legged robot; the human-machine interaction module is used to realize the control of interactive motion of the underactuated system robot.

[0411] Optionally, the wheel-legged robot performs state estimation based on acquired state signals. After estimation, it determines wheel rotation reference signals and other reference signals through a balance controller to control the movement of the wheel section. The wheel rotation reference signals are used to achieve wheel balancing, while the other reference signals are used to achieve wheel movement and steering.

[0412] Optionally, the wheeled robot performs contact position coordinate transformation based on the pressing position and / or force information collected from the tactile pressing operation on the motion sensing device. After signal conditioning, the conditioned signal undergoes pattern recognition based on the tactile signal. Subsequently, the human-machine interface module determines the base posture signal and other reference signals to control the movement of the base. Optionally, the motion sensing device is a tactile sensor.

[0413] The base attitude reference signal is used to complete the interactive motion of the underactuated robot system, along with other reference signals. The base attitude reference signal is used to determine at least one of the tilt direction, tilt angle, and tilt velocity of the base. Other reference signals are used to determine other auxiliary information of the underactuated robot system, including its height, movement mode, etc.

[0414] The illustrative example illustrates how tactile signal-based pattern recognition is used to indicate the process of determining an interactive reference signal based on tactile pressing operations. This determined interactive reference signal can also be called an interactive pattern. It can be understood that after signal conditioning, discrete touch point information is obtained; subsequently, pattern recognition is performed based on this discrete touch point information (i.e., tactile signals) to determine the corresponding motion type of the interactive movement (i.e., pattern recognition). The touch point information is the target posture sequence signal. A detailed description of the process of determining the interactive reference signal based on tactile pressing operations can be found above and will not be repeated here.

[0415] In a schematic way, positional information and / or force information of the contact point can be obtained through a motion sensing device. By converting the contact position coordinates, conditioning the signal, and calculating the relative angle, the correspondence between the force signal change unit and the position of the pressure sensor array on the upper surface of the base can be described.

[0416] By transforming the contact position coordinates, the force situation at each point on the somatosensory sensing device at each moment can be determined, thereby obtaining continuous force changes; based on the continuous force changes, the pressing type of the tactile pressing operation can be determined, and then the motion type of the interactive motion can be determined.

[0417] By signal conditioning, the force information on the upper surface of the underactuated robot can be determined, that is, the force information at at least one contact point on the somatosensory sensing device.

[0418] It should be understood that the relative angle calculation is the same as the determination of the contact point angle mentioned above.

[0419] For example, after acquiring the electrical signals on the upper surface of the underactuated system robot, the signals can be identified through signal analysis, and the robot can be controlled to perform interactive movements based on the identified information.

[0420] The following are four optional interaction scenarios:

[0421] 1. The plate identifier obtained by plate identifier recognition can be used as a trigger signal for the underactuated system robot to move forward (take one step forward) or dodge (take a sharp step backward) and turn around.

[0422] 2. The contact angle obtained by contact angle recognition can be used as a trigger signal for the underactuated system robot to rotate and change its forward direction. If the contact angle is in the direction of the operator, the underactuated system robot will rotate to follow the operator.

[0423] 3. The recognition results of touch point trajectory recognition can be circles, Us, hearts, etc., which can be used as trigger signals for actions such as rotating one revolution, squatting, and swaying left and right of underactuated system robots;

[0424] 4. The real-time pressing signals obtained from the left-right or forward-backward sliding of the touch point coordinate recognition can be used as trigger signals for the left-right or forward-backward swaying of the underactuated system robot, so that the underactuated system robot can sway left-right or forward-backward as the operator's finger slides.

[0425] It should be understood that whether it's the balance control of the underactuated robot or the execution of the various actions mentioned above through the human-machine interface module, the controller output generates reference signals for whole-body dynamics control. These reference signals are input into the whole-body dynamics controller, and through optimization algorithms under constraints, a series of motor torques can be obtained. Inputting these torques into the underactuated robot yields its state at the next moment. Subsequently, this state is acquired through signal acquisition and applied to the balance control and motion sequence control of the underactuated robot at the next moment.

[0426] Based on the foregoing, the overall movement of the wheeled robot is controlled by whole-body dynamics, so the movements of both the wheel section and the base section must meet the requirements of whole-body dynamics control.

[0427] In whole-body dynamics control, based on the whole-body dynamics model, different control tasks are incorporated, and the physical constraints of the robot are considered. A mapping is established between angular acceleration information in joint space and task space and the torques of each joint. By sending the joint torques to the corresponding drive motors of the wheeled robot, joint force control of the robot is achieved, thereby changing the robot's shape, posture, and position in space.

[0428] Indicatively, control tasks include wheel balancing, wheel movement and steering, base attitude, tail, torque, and external force tasks.

[0429] The wheel balancing task aims to maintain the robot's upper body balance, while the wheel movement and steering tasks must satisfy the robot's forward and backward movement and yaw-direction steering. The base posture task enables rotation of the base in the pitch, roll, and yaw directions, and translation in the x, y, and z directions. The tail task allows positioning the tail to a specified position given the corresponding joint angle values. The torque task typically incorporates the integral of the sum of the squares of the torques of each joint motor over time into the cost function to ensure that the torque values ​​of each joint fall within a finite range during the optimization process. The external force task includes the external forces in three directions corresponding to the contact points between the two wheels and the ground. The integral of the sum of the squares of these external forces over time is incorporated into the cost function to ensure that the values ​​of each external force fall within a finite range during the optimization process.

[0430] Optionally, the whole-body dynamics model is subject to multiple constraints, including dynamics model constraints, closed-loop linkage constraints, wheel slippage and grounding constraints, and friction constraints.

[0431] In summary, the embodiments of this application provide an overall control framework for a mobile robot, taking a wheeled-legged robot as an example.

[0432] In illustrative purposes, this application also provides a mobile robot.

[0433] Schematic illustration: The mobile robot includes a wheel section and a base section connected to the wheel section, and a motion sensing device is provided on the base section; the mobile robot is equipped with a controller, which is used to control the mobile robot to implement the motion control method of the mobile robot as described above.

[0434] Schematic, a motion sensing device is a device used to detect contact information between a mobile robot and its external environment. In some embodiments, the motion sensing device is a force / tactile sensing device, or may be represented as a force-tactile sensing device. The motion sensing device can be implemented as any one of a force sensor, a tactile sensor, or a force-tactile sensor.

[0435] The controller settings can be configured according to actual needs, and this application does not limit them. Any mobile robot capable of interactive movement through tactile pressing operations is within the scope of protection of this application. The motion control methods for mobile robots have been described in detail above and can be used as a reference, so they will not be repeated here.

[0436] The following are device embodiments of this application. For details not described in detail in the device embodiments, please refer to the corresponding descriptions in the above method embodiments. They will not be repeated here.

[0437] Figure 27 A schematic diagram of a motion control device for a mobile robot provided in an exemplary embodiment of this application is shown. The mobile robot includes a wheel section and a base section connected to the wheel section. A motion sensing device is disposed on the base section. The device includes:

[0438] Receiver module 2720 is used to receive tactile pressing operations on the somatosensory sensing device;

[0439] Control module 2740 is used to control the mobile robot to perform interactive movements in response to tactile pressing operations;

[0440] Interactive motion is the motion corresponding to tactile pressing operation. During interactive motion, at least one of the wheel part and the base part moves.

[0441] Optionally, the tactile pressing operation includes at least one of the following operations: single-point pressing operation, which is an instantaneous touch performed on the motion sensing device, and the instantaneous touch does not form a movement trajectory on the motion sensing device; continuous pressing operation, which is a continuous touch performed on the motion sensing device, and the continuous touch forms a movement trajectory on the motion sensing device.

[0442] Optionally, interactive motion includes one of the following: translational motion, where turning motion is the displacement motion performed by the mobile robot; turning motion, where turning motion is the motion of the mobile robot changing its forward direction; swaying motion, where swaying motion is the body swaying motion of the mobile robot according to the movement trajectory of the tactile pressing operation; rotational motion, where rotational motion is the rotational motion of the mobile robot; undulating motion, where undulating motion is the motion of the mobile robot changing its vertical height; and rocking motion, where rocking motion is the body rocking motion of the mobile robot.

[0443] Optionally, the interactive motion includes a first movement motion, and the control module 2740 is used to control the mobile robot to move a first distance in the forward direction in response to the first single-point press operation.

[0444] Optionally, the interactive motion includes a second movement motion. The control module 2740 is used to control the mobile robot to move a second distance backward in response to the second single-point press operation; or, in response to the second single-point press operation, control the mobile robot to move a second distance backward, and after moving the second distance, control the wheel to rotate, updating the backward direction to the forward direction of the mobile robot in the next moment.

[0445] Optionally, the interactive motion includes steering motion. The control module 2740 is used to control the wheel to rotate in response to the third single-point press operation, so as to update the forward direction of the mobile robot to the rotation direction, which is the direction of the touch point position of the third single-point press operation relative to the center position of the motion sensing device.

[0446] Optionally, the interactive motion includes a first swaying motion, which is a swaying motion with the direction of the wheel portion relative to the base portion as the swaying direction; the control module 2740 is used to control the base portion to tilt in a first direction in response to the first continuous pressing operation; and to control the wheel portion to alternately change the leg height; wherein, the first direction is the direction of the first initial contact point position of the first continuous pressing operation on the motion sensing device relative to the center position of the motion sensing device, and the alternating change of the leg height of the wheel portion is determined according to at least two contact point positions corresponding to the first continuous pressing operation.

[0447] Optionally, the interactive motion includes a second swaying motion, which is a motion with the forward and backward directions of the mobile robot as the swaying directions; the control module 2740 is used to respond to the second continuous pressing operation by controlling the first wheel leg support rod of the wheel part to shorten and the second wheel leg support rod to extend, so that the base part tilts in the second direction; and controlling the first wheel leg support rod and the second wheel leg support rod to alternately extend and retract; wherein, the first wheel leg support rod is the rod in the wheel part closer to the first position, the second wheel leg support rod is the rod in the wheel part farther from the first position, the first position is the second initial contact point position of the second continuous pressing operation on the motion sensing device, the second direction is the direction of the second initial contact point position relative to the center position of the motion sensing device, and the alternating change of the leg height of the wheel part is determined according to at least two contact point positions corresponding to the second continuous pressing operation.

[0448] Optionally, the interactive motion includes rotational motion, and the control module 2740 controls the wheel section to rotate 360 ​​degrees in response to a third continuous pressing operation.

[0449] Optionally, the interactive motion includes undulating motion. The control module 2740 is used to control the vertical height of the wheel section to rise and then fall in response to the fourth continuous pressing operation until the mobile robot returns to the state before the fourth continuous pressing operation; or, in response to the fourth continuous pressing operation, control the handling height of the wheel section to fall and then rise until the mobile robot returns to the state before the fourth continuous pressing operation; wherein, during the vertical lifting and lowering of the wheel section, the base section performs translational motion.

[0450] Optionally, the interactive motion includes a rocking motion, which is a motion in which the wheel section is rocked relative to the base section; the control module 2740 is used to control the wheel section to alternately change the height of the legs at a fixed height in response to the fifth continuous pressing operation, so that the body of the mobile robot tilts and rocks.

[0451] Optionally, the tactile pressing operation is a simple sketching operation that mimics the movement state of a biological organism on the somatosensory sensing device; the control module 2740 is used to control at least one of the wheel section and the base section to move in response to the simple sketching operation, so as to control the mobile robot to perform the biomimetic movement corresponding to the simple sketching operation while maintaining the balance of the robot body; wherein, the biomimetic movement is the movement that mimics the movement state of a biological organism corresponding to the simple sketching operation, or the biomimetic movement is the movement that responds to the movement state of a biological organism corresponding to the simple sketching operation.

[0452] Optionally, the control module 2740 is used to control the mobile robot to perform a first interactive movement in response to a first tactile pressing operation; and to control the mobile robot to perform a second interactive movement in response to a second tactile pressing operation; wherein the first tactile pressing operation and the second tactile pressing operation are of the same type, but the contact point position and / or force information of the contact point obtained by the first tactile pressing operation and the second tactile pressing operation are different.

[0453] Optionally, when the biomimetic motion is the motion that mimics the biological motion state corresponding to the sketch operation, the control module 2740 is used to respond to the sketch operation and control the mobile robot to move along the same motion trajectory as the sketch operation on the somatosensory sensing device while maintaining the balance of the robot body.

[0454] Optionally, when the biomimetic motion is the motion in response to the biological motion state corresponding to the sketch operation, the control module 2740 is used to control the mobile robot to move in the manner indicated by the sketch operation while maintaining its body balance; or, in response to the sketch operation, control the mobile robot to perform force feedback motion of the biological motion state corresponding to the sketch operation while maintaining its body balance; or, in response to the sketch operation, control the mobile robot to move in the same or opposite state of the biological motion state corresponding to the sketch operation based on the environmental information of the mobile robot while maintaining its body balance.

[0455] Optionally, the mobile robot's body balance can be maintained through control of the mobile robot's whole-body dynamics model.

[0456] Optionally, a first somatosensory sensing device is externally located at the position where the wheel part is connected to the base part, a second somatosensory sensing device is externally located at the joint position of the wheel part, and a third somatosensory sensing device is externally located at the wheel part. The receiving module 2720 is also used to acquire force information on at least one of the first somatosensory sensing device, the second somatosensory sensing device, and the third somatosensory sensing device. The control module 2740 is also used to control the mobile robot to perform interactive movements on the wheel part based on the force information.

[0457] Optionally, the control module 2740 is used to control the mobile robot to perform interactive movements in response to tactile pressing operations, based on force information and / or the road conditions where the mobile robot is located.

[0458] Optionally, the receiving module 2720 is also used to display the environmental information of the mobile robot on the motion sensing device. The environmental information is determined by one of the following methods: calling the map information of the location of the mobile robot, obtaining the visual signal of the mobile robot, or performing real-time positioning and map construction based on the historical movement path of the mobile robot. The control module 2740 is used for tactile pressing operations on the environmental information to control the mobile robot to perform interactive movements.

[0459] Optionally, the control module 2740 is used to respond to a tactile pressing operation, determine a target posture sequence signal corresponding to the tactile pressing operation; determine an interactive reference signal corresponding to the target posture sequence signal based on the target posture sequence signal, wherein the target posture sequence signal uniquely corresponds to one interactive reference signal; and control the mobile robot to perform interactive movements based on the interactive reference signal.

[0460] Optionally, the control module 2740 is used to determine the target posture sequence signal by performing single-point signal analysis or continuous multi-point signal analysis through a somatosensory sensing device in response to a tactile pressing operation.

[0461] Optionally, single-point signal analysis includes at least one of contact point coordinate recognition, contact point angle recognition, and plate marking recognition; continuous multi-point signal analysis includes contact point trajectory recognition.

[0462] Optionally, the target posture sequence signal includes at least one of the following: the contact coordinates of at least one contact point on the motion sensing device; the contact angle of at least one contact point; the plate identifier of the plate where at least one contact point is located, wherein the motion sensing device divides the plate into two or more plates; and the force information of at least one contact point, wherein the force information includes at least one of the force magnitude, force direction and force angle.

[0463] Optionally, the control module 2740 is used to determine the torque information of the base and / or wheel parts by using the interactive reference signal and the whole-body dynamics model of the mobile robot as inputs to the closed-loop proportional-integral-derivative PID controller; and to control the mobile robot to perform interactive motion based on the torque information.

[0464] Figure 28 A structural block diagram of an electronic device 2800 provided in an exemplary embodiment of this application is shown.

[0465] The electronic device 2800 can be a portable mobile terminal, such as an electronic device for controlling a mobile robot, a smartphone, tablet computer, MP3 player (Moving Picture Experts Group Audio Layer III), MP4 player (Moving Picture Experts Group Audio Layer IV), laptop computer, or desktop computer. The electronic device 2800 may also be referred to as a user device, portable terminal, laptop terminal, desktop terminal, or other names. In this embodiment, the electronic device 2800 can be implemented as a control device component of the robot.

[0466] Typically, electronic device 2800 includes a processor 2801 and a memory 2802.

[0467] Processor 2801 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 2801 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 2801 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 2801 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the screen. In some embodiments, processor 2801 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0468] The memory 2802 may include one or more computer-readable storage media, which may be non-transitory. The memory 2802 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 2802 is used to store at least one instruction, which is executed by the processor 2801 to implement the motion control method for a mobile robot provided in the method embodiments of this application.

[0469] In some embodiments, the electronic device 2800 may optionally include a peripheral device interface 2803 and at least one peripheral device. The processor 2801, memory 2802, and peripheral device interface 2803 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 2803 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of the following: a radio frequency circuit 2804, a display screen 2805, a camera assembly 2806, an audio circuit 2807, a positioning assembly 2808, and a power supply 2809.

[0470] Peripheral device interface 2803 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 2801 and memory 2802. In some embodiments, processor 2801, memory 2802 and peripheral device interface 2803 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 2801, memory 2802 and peripheral device interface 2803 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0471] The radio frequency (RF) circuit 2804 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 2804 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 2804 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 2804 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 2804 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or Wi-Fi (Wireless Fidelity) networks. In some embodiments, the RF circuit 2804 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0472] Display screen 2805 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 2805 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 2801 for processing. In this case, display screen 2805 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 2805, disposed on the front panel of electronic device 2800; in other embodiments, there may be at least two display screens, disposed on different surfaces of electronic device 2800 or in a folded design; in still other embodiments, display screen 2805 may be a flexible display screen, disposed on a curved or folded surface of electronic device 2800. Furthermore, display screen 2805 may also be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. The display screen 2805 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0473] The camera assembly 2806 is used to acquire images or videos. Optionally, the camera assembly 2806 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the terminal, and the rear-facing camera is located on the back of the terminal. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 2806 may also 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 cool-light flash, which can be used for light compensation at different color temperatures.

[0474] The audio circuit 2807 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting them into electrical signals that are input to the processor 2801 for processing, or to the radio frequency circuit 2804 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each located in a different part of the electronic device 2800. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor 2801 or the radio frequency circuit 2804 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 2807 may also include a headphone jack.

[0475] The positioning component 2808 is used to locate the current geographical location of the electronic device 2800 in order to enable navigation or LBS (Location Based Service). The positioning component 2808 can be a positioning component based on GPS (Global Positioning System), BeiDou system, or Galileo system.

[0476] Power supply 2809 is used to supply power to various components in electronic device 2800. Power supply 2809 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 2809 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired line, and a wireless rechargeable battery is a battery that is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0477] In some embodiments, the electronic device 2800 further includes one or more sensors 2810. The one or more sensors 2810 include, but are not limited to, an accelerometer 2811, a gyroscope 2812, a pressure sensor 2813, an optical sensor 2814, and a proximity sensor 2815.

[0478] Accelerometer 2811 can detect the magnitude of acceleration along the three axes of a coordinate system established by electronic device 2800. For example, accelerometer 2811 can be used to detect the components of gravitational acceleration along the three axes. Processor 2801 can control display screen 2805 to display the user interface in either a landscape or portrait view based on the gravitational acceleration signal acquired by accelerometer 2811. Accelerometer 2811 can also be used for games or for acquiring user motion data.

[0479] The gyroscope sensor 2812 can detect the orientation and rotation angle of the electronic device 2800. The gyroscope sensor 2812 can work in conjunction with the accelerometer sensor 2811 to acquire the user's 3D movements of the electronic device 2800. Based on the data acquired by the gyroscope sensor 2812, the processor 2801 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0480] The pressure sensor 2813 can be disposed on the side bezel of the electronic device 2800 and / or on the lower layer of the display screen 2805. When the pressure sensor 2813 is disposed on the side bezel of the electronic device 2800, it can detect the user's grip signal on the electronic device 2800, and the processor 2801 can perform left / right hand recognition or quick operation based on the grip signal collected by the pressure sensor 2813. When the pressure sensor 2813 is disposed on the lower layer of the display screen 2805, the processor 2801 can control the operable controls on the UI interface based on the user's pressure operation on the display screen 2805. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0481] Optical sensor 2814 is used to collect ambient light intensity. In one embodiment, processor 2801 can control the display brightness of display screen 2805 based on the ambient light intensity collected by optical sensor 2814. Specifically, when the ambient light intensity is high, the display brightness of display screen 2805 is increased; when the ambient light intensity is low, the display brightness of display screen 2805 is decreased. In another embodiment, processor 2801 can also dynamically adjust the shooting parameters of camera assembly 2806 based on the ambient light intensity collected by optical sensor 2814.

[0482] The proximity sensor 2815, also known as a distance sensor, is typically located on the front panel of the electronic device 2800. The proximity sensor 2815 is used to detect the distance between the user and the front of the electronic device 2800. In one embodiment, when the proximity sensor 2815 detects that the distance between the user and the front of the electronic device 2800 is gradually decreasing, the processor 2801 controls the display screen 2805 to switch from a screen-on state to a screen-off state; when the proximity sensor 2815 detects that the distance between the user and the front of the electronic device 2800 is gradually increasing, the processor 2801 controls the display screen 2805 to switch from a screen-off state to a screen-on state.

[0483] Those skilled in the art will understand that Figure 28 The structure shown does not constitute a limitation on the electronic device 2800, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0484] This application also provides a computer device, which includes a memory and a processor; the memory stores at least one piece of program code, which is loaded and executed by the processor to implement the motion control method for the mobile robot as described above.

[0485] This application also provides a computer-readable storage medium storing a computer program for execution by a processor to implement the motion control method for the mobile robot described above.

[0486] This application also provides a chip, which includes programmable logic circuits and / or program instructions, and when the chip is running, it is used to implement the motion control method for the mobile robot as described above.

[0487] This application also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. The processor reads and executes the computer instructions from the computer-readable storage medium to implement the motion control method for the mobile robot as described above.

[0488] In this application, it should be understood that the terms “first”, “second”, etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0489] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0490] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A motion control method of a mobile robot, characterized by, The mobile robot comprises a wheel part and a base part connected with the wheel part, a somatosensory perception device is arranged on the base part, and the method comprises: receiving a tactile pressing operation on the somatosensory perception device; controlling the mobile robot to perform an interactive motion in response to the tactile pressing operation; wherein the tactile pressing operation is a sketching operation on the somatosensory perception device imitating a biological motion state, and the interactive motion is a motion corresponding to the tactile pressing operation, at least one of the wheel part and the base part performs a motion in the process of the interactive motion, and the interactive motion comprises a bionic motion corresponding to the sketching operation performed by the mobile robot while keeping the body balanced; a motion trajectory of the bionic motion is the same as or opposite to a motion trajectory of the biological motion state corresponding to the sketching operation, or the bionic motion imitates or responds to the biological motion state corresponding to the sketching operation, and the biological motion state is a digital indication depicted based on the sketching operation.

2. The method of claim 1, wherein, The tactile pressing operation comprises at least one of the following operations: a single-point pressing operation, which is a transient touch on the somatosensory perception device, and the transient touch does not form a movement trajectory on the somatosensory perception device; a continuous pressing operation, which is a continuous touch on the somatosensory perception device, and the continuous touch forms a movement trajectory on the somatosensory perception device.

3. The method of claim 1, wherein, The interactive motion comprises one of the following motions: a moving motion, which is a displacement motion of the mobile robot; a turning motion, which is a motion of changing the forward direction of the mobile robot; a shaking motion, which is a body shaking motion of the mobile robot according to a movement trajectory of the tactile pressing operation; a body turning motion, which is a one-turn rotation motion of the mobile robot; a heaving motion, which is a motion of changing the vertical height of the mobile robot; a swinging motion, which is a body swinging motion of the mobile robot.

4. The method according to any one of claims 1 to 3, characterized in that, The interactive motion comprises a first moving motion, and the controlling the mobile robot to perform an interactive motion in response to the tactile pressing operation comprises: controlling the mobile robot to move forward by a first distance in response to a first single-point pressing operation.

5. The method according to any one of claims 1 to 3, characterized in that, The interactive motion comprises a second moving motion, and the controlling the mobile robot to perform an interactive motion in response to the tactile pressing operation comprises: controlling the mobile robot to move backward by a second distance in response to a second single-point pressing operation; or, controlling the mobile robot to move backward by the second distance in response to the second single-point pressing operation, and controlling the wheel part to rotate to update the backward direction as the forward direction of the mobile robot at the next moment after moving the second distance.

6. The method according to any one of claims 1 to 3, characterized in that, The interactive motion comprises a turning motion, and the controlling the mobile robot to perform an interactive motion in response to the tactile pressing operation comprises: In response to a third single-point pressing operation, the wheel part is controlled to rotate to update the advancing direction of the mobile robot to a rotating direction, the rotating direction being a direction of a touch point position of the third single-point pressing operation relative to a central position of the somatosensory perception device.

7. The method according to any one of claims 1 to 3, characterized in that, The interactive motion includes a first wobble motion, the first wobble motion being a motion with a wobble direction being a direction of the wheel part relative to the base part; The controlling the mobile robot to perform the interactive motion in response to the tactile pressing operation includes: In response to a first continuous pressing operation, the base part is controlled to tilt to a first direction; The wheel part is controlled to alternately change leg heights; The first direction is a direction of a first initial touch point position of the first continuous pressing operation on the somatosensory perception device relative to a central position of the somatosensory perception device, and the alternately changing of the leg heights of the wheel part is determined according to at least two touch point positions corresponding to the first continuous pressing operation.

8. The method according to any one of claims 1 to 3, characterized in that, The interactive motion includes a second wobble motion, the second wobble motion being a motion with a wobble direction being an advancing direction and a retreating direction of the mobile robot; The controlling the mobile robot to perform the interactive motion in response to the tactile pressing operation includes: In response to a second continuous pressing operation, a first wheel leg support rod of the wheel part is controlled to be shortened, and a second wheel leg support rod is controlled to be lengthened, so that the base part tilts to a second direction; The first wheel leg support rod and the second wheel leg support rod are controlled to alternately extend and retract; The first wheel leg support rod is a rod close to a first position in the wheel part, the second wheel leg support rod is a rod away from the first position in the wheel part, the first position is a second initial touch point position of the second continuous pressing operation on the somatosensory perception device, the second direction is a direction of the second initial touch point position relative to a central position of the somatosensory perception device, and the alternately changing of the leg heights of the wheel part is determined according to at least two touch point positions corresponding to the second continuous pressing operation.

9. The method according to any one of claims 1 to 3, characterized in that, The interactive motion includes a turning motion, and the controlling the mobile robot to perform the interactive motion in response to the tactile pressing operation includes: In response to a third continuous pressing operation, the wheel part is controlled to rotate by 360 degrees.

10. The method according to any one of claims 1 to 3, characterized in that, The interactive motion includes a heaving motion, and the controlling the mobile robot to perform the interactive motion in response to the tactile pressing operation includes: In response to a fourth continuous pressing operation, the vertical height of the wheel part is controlled to be raised and then lowered until the mobile robot returns to a state before the fourth continuous pressing operation; Or, in response to the fourth continuous pressing operation, the vertical height of the wheel part is controlled to be lowered and then raised until the mobile robot returns to a state before the fourth continuous pressing operation; During the vertical lifting and lowering of the wheel part, the base part performs a translational motion.

11. The method according to any one of claims 1 to 3, characterized in that, The interactive motion includes a swinging motion, the swinging motion being a motion with a swinging direction being a direction of the wheel part relative to the base part; The method further comprises: In response to a fifth continuous pressing operation, controlling the wheel part to alternately change the leg part height at a fixed height, so that the body of the mobile robot tilts and swings.

12. The method according to any one of claims 1 to 3, characterized in that, The method further comprises: In response to a first tactile pressing operation, controlling the mobile robot to perform a first interactive motion; In response to a second tactile pressing operation, controlling the mobile robot to perform a second interactive motion; The first tactile pressing operation and the second tactile pressing operation are of the same type, and the first tactile pressing operation and the second tactile pressing operation obtain different touch point position and / or force information of the touch point.

13. The method according to any one of claims 1 to 3, characterized in that, The first somatosensory perception device is arranged outside the position where the wheel part is connected to the base part, the second somatosensory perception device is arranged outside the joint position of the wheel part, and the third somatosensory perception device is arranged outside the wheel of the wheel part. The method further comprises: Obtaining force information on at least one of the first somatosensory perception device, the second somatosensory perception device and the third somatosensory perception device; 14. The method according to any one of claims 1 to 3, characterized in that, According to the force information, controlling the mobile robot to perform an interactive motion for the wheel part. The method further comprises: Displaying environment information of the mobile robot on the somatosensory perception device, the environment information being determined by one of the following ways: calling map information of the location of the mobile robot, obtaining visual signals of the mobile robot, and obtaining through real-time positioning and map construction according to the historical moving path of the mobile robot; The method further comprises:

15. The method according to any one of claims 1 to 3, characterized in that, In response to a tactile pressing operation on the environment information, controlling the mobile robot to perform the interactive motion. The method further comprises: In response to the tactile pressing operation, determining a target posture sequence signal corresponding to the tactile pressing operation; According to the target posture sequence signal, determining an interactive reference signal corresponding to the target posture sequence signal, the target posture sequence signal corresponding to one interactive reference signal; 16. The method of claim 15, wherein, According to the interactive reference signal, controlling the mobile robot to perform the interactive motion. The method further comprises:

17. The method of claim 15, wherein, In response to the tactile pressing operation, performing single-point signal analysis or continuous multi-point signal analysis through the somatosensory perception device to determine the target posture sequence signal. The target posture sequence signal comprises at least one of the following information: Touch point coordinates of at least one contact point on the somatosensory perception device; Touch point angle of the at least one contact point; Plate identification of a plate where the at least one contact point is located, the somatosensory perception device being divided into two or more plates; Force information of the at least one contact point, the force information comprising at least one of force size, force direction and force angle.

18. The method of claim 15, wherein, The method comprises: controlling the mobile robot to perform the interactive motion according to the interactive reference signal, comprising: taking the interactive reference signal and a whole-body dynamics model of the mobile robot as inputs of a closed-loop proportional-integral-derivative (PID) controller to determine torque information of the base part and / or the wheel part; 19. A mobile robot, characterized by controlling the mobile robot to perform the interactive motion according to the torque information. The mobile robot comprises a wheel part and a base part connected to the wheel part, and a somatosensory perception device is arranged on the base part.

20. A motion control device of a mobile robot, characterized by comprising: The mobile robot comprises a controller configured to control the mobile robot to perform the motion control method of the mobile robot according to any one of claims 1 to 18. The mobile robot comprises a wheel part and a base part connected to the wheel part, and a somatosensory perception device is arranged on the base part, and the device comprises: a receiving module configured to receive a tactile pressing operation on the somatosensory perception device; a control module configured to control the mobile robot to perform an interactive motion in response to the tactile pressing operation; wherein the tactile pressing operation is a sketching operation on the somatosensory perception device simulating a biological motion state, the interactive motion is a motion corresponding to the tactile pressing operation, at least one of the wheel part and the base part performs a motion during the interactive motion, and the interactive motion comprises a bionic motion of the mobile robot corresponding to the sketching operation under the condition that the body of the mobile robot is balanced; 21. A computer device, comprising: a motion trajectory of the bionic motion is the same as or opposite to a motion trajectory of the biological motion state corresponding to the sketching operation, or the bionic motion is simulated or responded to the biological motion state corresponding to the sketching operation, and the biological motion state is a digital indication depicted based on the sketching operation. The computer device comprises a memory and a processor; 22. A computer-readable storage medium, characterized in that, The memory stores at least one program code, which is loaded and executed by the processor to implement the motion control method of the mobile robot according to any one of claims 1 to 18.

23. A chip, characterized by The storage medium stores a computer program, which is used to be executed by a processor to implement the motion control method of the mobile robot according to any one of claims 1 to 18.

24. A computer program product, characterised in that, The chip comprises a programmable logic circuit and / or program instructions, which are used to implement the motion control method of the mobile robot according to any one of claims 1 to 18 when an electronic device in which the chip is installed is running. The computer program product comprises computer instructions stored in a computer readable storage medium, and a processor reads and executes the computer instructions from the computer readable storage medium to implement the motion control method of the mobile robot according to any one of claims 1 to 18.

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