Motion control method for a mobile robot and mobile robot

Abstract

The present application discloses a motion control method for a mobile robot and a mobile robot, relating to the field of robots. The mobile robot includes a first wheel part with telescopic legs, a second wheel part with telescopic legs, and a base part connected to the first wheel part and the second wheel part. The method includes: controlling the first wheel part and the second wheel part to be in a standing balance state; controlling the mobile robot to perform biped-like motion based on the standing balance state; wherein, the base part is parallel to the horizontal reference plane in the standing balance state, and during the biped-like motion, the first wheel part and the second wheel part alternately touch the ground, and the base part tilts and sways.

Description

Technical Field

[0001] This application relates to the field of robots, and particularly to a motion control method for a mobile robot and a mobile robot. Background Art

[0002] Taking a mobile robot with an underactuated system as an example, an underactuated system robot refers to a robot in which the number of actuators is less than the number of joint degrees of freedom. A typical manifestation of such a robot is the balance problem of the robot.

[0003] Taking a wheel-legged robot with an underactuated system as an example. For a wheel-legged robot with two-wheel balance, the motion plane of its legs has no degree of freedom in the roll direction. Taking a wheel-legged robot including a first wheel part, a second wheel part, and a base part connected to the first wheel part and the second wheel part as an example, the motion plane of the legs of the first wheel part and the second wheel part is perpendicular to the base part. Therefore, in actual use, the motion of the robot is usually achieved by controlling the wheels of the wheel-legged robot to roll. Summary of the Invention

[0004] Embodiments of this application provide a motion control method for a mobile robot and a mobile robot, which can realize the biped-like motion of the mobile robot. The technical solution at least includes the following solutions:

[0005] According to one aspect of this application, a motion control method for a mobile robot is provided. The mobile robot includes a first wheel part with telescopic legs, a second wheel part with telescopic legs, and a base part connected to the first wheel part and the second wheel part. The method includes:

[0006] Controlling the first wheel part and the second wheel part to be in a standing balance state;

[0007] Controlling the mobile robot to perform biped-like motion based on the standing balance state;

[0008] Wherein, the base part is parallel to the horizontal reference plane in the standing balance state, and during the biped-like motion process, the first wheel part and the second wheel part alternately touch the ground, and the base part tilts and sways.

[0009] According to one aspect of this application, a mobile robot is provided. The mobile robot includes a first wheel part with telescopic legs, a second wheel part with telescopic legs, and a base part connected to the first wheel part and the second wheel part;

[0010] A controller is provided in the mobile robot, and the controller 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 the present application, there is provided a motion control device for a mobile robot, the device comprising:

[0012] A control module for controlling a first wheel part having telescopic legs and a second wheel part having telescopic legs included in the mobile robot to be in a standing balance state;

[0013] The control module is further configured to control the mobile robot to perform biped-like motion based on the standing balance state;

[0014] Wherein, the base part of the mobile robot is parallel to the horizontal reference plane in the standing balance state, and during the biped-like motion, the first wheel part and the second wheel part alternately touch the ground, and the base part tilts and sways.

[0015] According to one aspect of the present application, there is provided a computer device, the computer device comprising a memory and a processor; at least one program code is stored in the memory, and the program code is loaded and executed by the processor to implement the motion control method of the mobile robot as described above.

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

[0017] According to one aspect of the present application, there is provided a chip, the chip comprising a programmable logic circuit and / or program instructions, which are used to implement the motion control method of the mobile robot as described above when an electronic device installed with the chip runs.

[0018] According to one aspect of the present application, there is provided a computer program product, the computer program product comprising computer instructions, the computer instructions being stored in a computer-readable storage medium, and the processor reads and executes the computer instructions from the computer-readable storage medium to implement the motion control method of the mobile robot as described above.

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

[0020] By means of the first wheel part having telescopic legs and the second wheel part having telescopic legs, the mobile robot is controlled to perform biped-like motion based on the standing balance state, thereby providing a new motion mode for the mobile robot. Description of the Drawings

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

[0022] Figure 1 is a schematic structural diagram of a wheel-legged robot provided by an exemplary embodiment of the present application;

[0023] Figure 2 is a partial schematic diagram of a wheel-legged robot provided by an exemplary embodiment of the present application;

[0024] Figure 3 is a front view of a wheel-legged robot provided by an exemplary embodiment of the present application in a two-wheel standing state;

[0025] Figure 4 is a side view of a wheel-legged robot provided by an exemplary embodiment of the present application in a two-wheel standing state;

[0026] Figure 5 is a top view of a wheel-legged robot provided by an exemplary embodiment of the present application in a two-wheel standing state;

[0027] Figure 6 shows a three-dimensional schematic diagram of a wheel-legged robot provided by an exemplary embodiment of the present application with the counterweight leg in an adducted state;

[0028] Figure 7 is a front view of a wheel-legged robot provided by an exemplary embodiment of the present application in a three-wheel standing state;

[0029] Figure 8 is a side view of a wheel-legged robot provided by an exemplary embodiment of the present application in a three-wheel standing state;

[0030] Figure 9 is a top view of a wheel-legged robot provided by an exemplary embodiment of the present application in a three-wheel standing state;

[0031] Figure 10 is a three-dimensional schematic diagram of a wheel-legged robot provided by an exemplary embodiment of the present application in a three-wheel standing state;

[0032] Figure 11 is another three-dimensional schematic diagram of a wheel-legged robot provided by an exemplary embodiment of the present application in a three-wheel standing state;

[0033] Figure 12 is a schematic diagram of the form of a wheel-legged robot provided by an exemplary embodiment of the present application;

[0034] Figure 13 It is a schematic diagram of three spatial angles provided by an exemplary embodiment of the present application;

[0035] Figure 14 It is a block diagram of balance control in the pitch angle direction provided by an exemplary embodiment of the present application;

[0036] Figure 15 It is a schematic diagram of balance control in the roll angle direction provided by an exemplary embodiment of the present application;

[0037] Figure 16 It is a schematic diagram of balance control in the yaw angle direction provided by an exemplary embodiment of the present application;

[0038] Figure 17 It is a flowchart of a motion control method for a mobile robot provided by an exemplary embodiment of the present application;

[0039] Figure 18 It is a schematic diagram of a standing balance state provided by an exemplary embodiment of the present application;

[0040] Figure 19 It is a flowchart of a motion control method for a mobile robot provided by an exemplary embodiment of the present application;

[0041] Figure 20 It is an action decomposition diagram of a biped-like motion provided by an exemplary embodiment of the present application;

[0042] Figure 21 It is a schematic diagram of a first tilting state provided by an exemplary embodiment of the present application;

[0043] Figure 22 It is a schematic diagram of a first single-wheel touchdown state provided by an exemplary embodiment of the present application;

[0044] Figure 23 It is a schematic diagram of a second tilting state provided by an exemplary embodiment of the present application;

[0045] Figure 24 It is a schematic diagram of a second single-wheel touchdown state provided by an exemplary embodiment of the present application;

[0046] Figure 25 It is an action decomposition diagram of a biped-like motion provided by an exemplary embodiment of the present application;

[0047] Figure 26 It is a schematic diagram of the change from a standing balance state to a first tilting state provided by an exemplary embodiment of the present application;

[0048] Figure 27Schematic diagram of restoring the first inclined state to the standing balance state provided by an exemplary embodiment of the present application;

[0049] Figure 28 Schematic diagram of changing the standing balance state to the second inclined state provided by an exemplary embodiment of the present application;

[0050] Figure 29 Schematic diagram of restoring the second inclined state to the standing balance state provided by an exemplary embodiment of the present application;

[0051] Figure 30 Schematic diagram of simulating and deriving joint angle information with the cross-section of a wheel-legged robot provided by an exemplary embodiment of the present application;

[0052] Figure 31 Schematic diagram of determining the leg change amount when the mobile robot is in the first inclined state or the second inclined state provided by an exemplary embodiment of the present application;

[0053] Figure 32 Schematic diagram of the motion control device of the mobile robot provided by an exemplary embodiment of the present application;

[0054] Figure 33 Block diagram of the electronic device provided by an exemplary embodiment of the present application.

[0055] The following explains each label in the drawings:

[0056] 10 - Wheel-legged robot;

[0057] 11 - Base part;

[0058] 12 - Wheel part:

[0059] 121 - Thigh unit;

[0060] 122 - Calf unit;

[0061] 123 - Driving wheel;

[0062] 124 - Driving unit: 1241 - First motor; 1242 - Second motor;

[0063] 13 - Tail;

[0064] 131 - Counterweight leg;

[0065] 132 - Idler wheel;

[0066] 133 - Third motor;

[0067] 01 - Torsion spring; 02 - Rotating shaft; 03 - Synchronous belt; 04 - Synchronous belt pulley. Detailed implementation manners

[0068] 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.

[0069] In the embodiments of this application, "front" and "rear" are both based on the front and rear shown in the drawings. "The first end" and "the second end" are opposite ends.

[0070] To make the objectives, technical solutions, and advantages of this application more clear, the following will further describe the embodiments of this application in detail with reference to the drawings.

[0071] The motion control method for a mobile robot provided by the embodiments of this application can be used for any one of a redundant drive system robot, a fully drive system robot, and an underactuated system robot. Among them, a redundant drive system robot refers to a robot with a drive quantity greater than the number of joint degrees of freedom; a fully drive system robot refers to a robot with a drive quantity equal to the number of joint degrees of freedom; an underactuated system robot refers to a robot with a drive quantity less than the number of joint degrees of freedom, and all underactuated system robots have problems with fuselage balance.

[0072] It should be understood that underactuated system robots are unstable and have problems with fuselage balance, resulting in more difficult motion control compared to the other two types of robots. Taking a wheel-legged robot as an example, its balance control is challenging and requires the use of linear and nonlinear control techniques to achieve.

[0073] In some embodiments, the motion control method provided by the embodiments of this application is applied to an underactuated system robot. Optionally, the motion control method provided by the embodiments of this application is applied to a wheel-legged robot. The following will describe the example of an underactuated system robot. The redundant drive system robot and the fully drive system robot are similar and can be referred to, and will not be elaborated further.

[0074] Figure 1 Fig. shows a wheel-legged robot 10 provided by an exemplary embodiment of this application. The wheel-legged robot 10 is a type of underactuated system robot. The wheel-legged robot 10 combines the advantages of a wheeled robot and a legged robot, has high wheel energy efficiency and strong adaptability, and can avoid obstacles using legs on uneven terrain. The wheel-legged robot 10 is an unstable underactuated system, and there are only two contact points between the ground and the wheels / feet, making the balance control of the wheel-legged robot 10 challenging because it is difficult to obtain fuselage balance.

[0075] Schematically, the wheel-leg robot 10 includes a base portion 11, a wheel portion 12, and a tail portion 13. The wheel portion 12 and the tail portion 13 are respectively drivingly connected to the base portion 11. Optionally, the wheel portion 12 can be divided into left and right sides, and the left and right sides can be completely symmetrical or not completely symmetrical.

[0076] Schematically, the wheel portion 12 includes a leg portion and a wheel portion. Among them, the leg portion includes a thigh unit 121 and a calf unit 122, and the wheel portion includes a driving wheel 123. Taking the thigh unit 121 being composed of two rods and the calf unit 122 being composed of two rods as an example, the two rods included in the thigh unit 121, the two rods included in the calf unit 122, and the base portion 11 form a planar five-bar linkage mechanism.

[0077] Optionally, a first motor 1241 is fixed on the base portion 11 and is used to provide a driving force to the thigh unit 121.

[0078] Taking the first motor 1241 including two motors as an example, the two rods included in the thigh unit 121 are respectively fixedly connected to the output shafts of the two motors included in the first motor 1241. One end where the two rods included in the thigh unit 121 and the two rods included in the calf unit 122 are connected is connected in the form of a revolute pair to form a planar five-bar linkage mechanism.

[0079] Optionally, a second motor 1242 is fixed on a certain rod of the calf unit 122 and is used to provide a driving force to the driving wheel 123.

[0080] Reference Figure 2 Referring to the partial schematic diagram of the wheel-leg robot 10 shown, the driving of the driving wheel 123 can be achieved in the following manner: The second motor 1242 drives the rotating shaft 02 of the driving wheel 123 through belt drive. The axial direction of the revolute pair between the rotating shaft 02 and the two rods included in the calf unit 122 is coaxial. A torsion spring 01 is sleeved on the rotating shaft 02, and the arms of the torsion spring 01 are respectively fixed on the two rods included in the calf unit 122.

[0081] Optionally, a synchronous pulley 04 is installed on the output shaft of the second motor 1242. The synchronous pulley 04 is fixed on the rotating shaft 02, the driving wheel 123 is fixed on the other end of the rotating shaft 02, a synchronous belt 03 is sleeved on the synchronous pulley 04, and the second motor 1242 drives the synchronous pulley 04 to rotate by driving the synchronous belt 03, thereby driving the rotation of the driving wheel 123.

[0082] Optionally, in the wheel-leg robot 10 provided by the embodiment of the present application, the tail portion 13 includes a counterweight leg 131, a driven wheel 132, and a third motor 133. Among them, the counterweight leg 131 realizes a balancing function during the movement of the wheel-leg robot 10, and the third motor 133 is used to provide a driving force to the driven wheel 132.

[0083] Figures 3 - 5 The front view, left view, and top view of the wheel-leg robot 10 in the two-wheel standing state are respectively shown; Figure 6 The three-dimensional schematic diagram of the wheel-leg robot 10 with the counterweight leg 131 in the adducted state is shown.

[0084] In an alternative implementation scenario, the wheel-leg robot 10 can also be in a three-wheel standing state. Among them, when the wheel-leg robot 10 is in the three-wheel standing state, Figures 7 - 9 The front view, left view, and top view of the wheel-leg robot 10 in the three-wheel standing state are shown; Figure 10 and 11 The different three-dimensional views of the wheel-leg robot 10 in the three-wheel standing state are respectively shown.

[0085] Refer to Figure 7 , taking the position angle θ formed by the axis lines of the two rods included in the thigh unit 121 as an example, where the position angle θ < 180°, the mechanism can be in a self-stabilizing state.

[0086] In an alternative implementation scenario, the wheel-leg robot 10 can also have other forms, Figure 12 An example of one form is given.

[0087] It should be understood that the wheel-leg robot 10 is one of the under-actuated system robots. In the following embodiments of the present application, only the wheel-leg robot 10 is used as an example. The specific structure and forms of the wheel-leg robot 10 can be set according to the actual situation, which does not constitute a limitation to the present application.

[0088] To achieve the balance of the wheel-leg robot 10, it is usually necessary to perform balance feedback control on the wheel-leg robot 10. The balance feedback control mainly is to feed back the self-balance measurement value to the control system to make the final balance measurement value reach the standard.

[0089] Schematically, Figure 13 is the schematic diagram of three spatial angles provided by an exemplary embodiment of the present application. The embodiments of the present application mainly perform balance through three spatial angles: pitch angle, yaw angle, and roll angle.

[0090] Refer to Figure 13 , a right-handed Cartesian coordinate system of a three-dimensional control is established for the wheel-leg robot 10. Among them, the pitch angle is the angle of rotation around the x-axis, and the x-axis is the coordinate axis along the forward direction of the wheel-leg robot 10, corresponding to the roll angle, which is subsequently represented by θ; the yaw angle is the angle of rotation around the y-axis, and the y-axis is the coordinate axis along the two-wheel connection direction of the wheel-leg robot 10, corresponding to the pitch angle, which is subsequently represented by φ; the roll angle is the angle of rotation around the z-axis, and the z-axis is the coordinate axis in the vertically upward direction, corresponding to the yaw angle, which is subsequently represented by representation

[0091] The balance control for three spatial angular directions will be described separately:

[0092] Balance control in the pitch direction:

[0093] The angle in the pitch direction represents the swing amplitude of the wheel-legged robot 10 in the forward direction. That is, the angle in the pitch direction represents the angle at which the wheel-legged robot 10 sways back and forth in the control direction of the wheel rotation. This is due to the fact that 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 horizontally.

[0094] The control in the pitch direction consists of a multi-closed-loop proportional-integral-differential (PID) controller. Among them, the wheel-legged robot 10 is projected onto a two-dimensional plane to form a simplified two-dimensional plane model. X represents the distance that the wheel center moves horizontally in the simplified two-dimensional plane model. Assuming that the wheel does not slip or leave the ground, X is equal to the product of the angle of wheel rotation and the radius of the wheel.

[0095] Schematically, represents the moving speed of the wheel center, represents the reference speed of the wheel center movement, θ represents the pitch angle of the wheel-legged robot 10, that is, the angle of rotation around the direction perpendicular to the paper surface in the simplified two-dimensional plane model. Correspondingly, represents the pitch angular velocity of the wheel-legged robot 10, represents the reference value of the pitch angular velocity of the wheel-legged robot 10, τ represents the torque input to the wheel motor of the wheel-legged robot 10. Among them, θ, and are obtained by sensor acquisition. For example, θ and are obtained through an inertial sensor (Inertial Measurement Unit, IMU), is obtained through the encoder sensor of the wheel.

[0096] Figure 14 FIG. shows a block diagram of the balance control in the pitch direction provided by an exemplary embodiment of the present application. Among them, the outermost control reference quantity is the reference speed of the wheel center movement

[0097] First, obtain the reference speed of the wheel center movement That is, the speed that the wheel is expected to reach according to the movement, and obtain the moving speed of the wheel center through sensor acquisition Subtract from the speed of the wheel center movement The result after subtraction is input to the PID controller 1410, and θ is obtained through the output of the PID controller 1410 ref .

[0098] Secondly, this θ ref serves as the control reference quantity for the next control loop. After subtracting θ ref from θ, the pitch angle difference is obtained, that is, the difference between the current pitch angle and the reference pitch angle. The pitch angle difference is input to the PID controller 1420 to obtain Subsequently, serves as the control reference quantity for the next control loop. The result after subtracting from is input to the PID controller 1430, and τ is obtained through the output of the PID controller 1430. Sending τ to the wheel motors of the wheel-legged robot 10 can achieve the balance control of the robot.

[0099] Meanwhile, after the state of the wheel-legged robot 10 changes accordingly, the values of θ, will change accordingly. After these values are acquired by the sensors, they are used in a new round of control of the wheel-legged robot 10, thereby forming a control closed-loop.

[0100] The τ obtained according to the above balance control can be used as the wheel rotation reference signal of the whole-body type controller of the wheel-legged robot 10. There are various implementation methods for the calculation and generation method of this reference signal. This application is only an exemplary example, and other calculation and generation methods for obtaining τ do not impose limitations on this application.

[0101] Balance control in the roll direction:

[0102] Optionally, the angle in the roll direction represents the lateral swing amplitude caused by the inconsistent lengths of the two legs of the wheel-legged robot or the inconsistent heights of the two legs. Then, the ideal angle is input to the PID controller, and the leg lengths of the wheel-legged robot are controlled according to the difference between the current roll angle and the ideal angle, so as to keep the heights reached by the two legs supporting the main body part of the wheel-legged robot consistent. Usually, the ideal angle is 0. According to the PID controller, calculate the leg length that needs to change at the current roll angle, and calculate the joint angle change amount according to the leg length that needs to change, so as to control the joint angles of the leg configuration.

[0103] Schematically, please refer to Figure 15 , input the difference between the ideal angle and the roll angle to the PID controller 1510, output the leg length change, thereby determining the change amount of the joint angle based on the leg length change, and inputting the change amount of the joint angle to the motor controlling the leg configuration to control the joint angle.

[0104] Balance control in the yaw direction:

[0105] The angle in the yaw direction represents the angle generated by the wheel-legged robot during the rotation process. In this embodiment, φ is used to represent the yaw angle of the wheel-legged robot. represents the yaw angular velocity of the wheel-legged robot, φ ref represents the yaw angle reference value of the wheel-legged robot, Indicates the reference value of the yaw angular velocity of the wheel-legged robot. For illustration, please refer to Figure 16 ,Will and The difference is input into the PID controller 1610, and the torque increment Δτ is output, which is applied to the wheel motor to change the yaw direction angle of the wheel-legged robot.

[0106] Based on the foregoing, the present application provides a motion control method for a mobile robot, which enables the mobile robot to achieve bipedal-like motion. It should be understood that bipedal-like motion is a gait motion that imitates the alternating motion of the left and right legs of humans, and the gait motion can be specifically implemented in a variety of ways such as alternating walking and stepping on the spot. For example, the mobile robot performs stepping on the spot, and the landing positions of the first wheel part and the second wheel part of the mobile robot remain unchanged; for another example, the mobile robot performs linear motion, curved motion, obstacle crossing motion, etc. with an alternating walking gait, and the first wheel part and the second wheel part of the mobile robot are displaced according to different motions.

[0107] In some embodiments, the mobile robot is an underactuated system robot. An underactuated system robot refers to a robot whose number of drives is less than the number of joint degrees of freedom. The wheel motors of the underactuated system robot are responsible for controlling the rotation position of the wheels in the pitch direction, and are responsible for the posture balance control of the base and the adjustment of the pitch posture. This is based on the fact that the posture of the base and the rotation distance of the wheels are dynamically coupled, and control can be achieved through the dynamic relationship between the two according to the dynamic relationship.

[0108] For example, a two-wheeled balanced wheel-legged robot is a type of underactuated system robot. Compared with traditional bipedal robots, this type of robot has a common feature, that is, the plane in which the legs can move is perpendicular to the base, that is, the movement plane of the legs has no degree of freedom in the roll angle direction.

[0109] It can be understood that in the embodiments of the present application, an under-actuated system robot is a robot lacking one degree of freedom in space. Optionally, the under-actuated system robot provided in the embodiments of the present application is a wheel-legged robot that achieves two-wheel balance, and there is a lack of freedom in the roll angle direction between the motion plane of its legs and the base part. Taking the wheel-legged robot including a first wheel part, a second wheel part, and a base part connected to the first wheel part and the second wheel part as an example, the motion planes of the legs of the first wheel part and the second wheel part are perpendicular to the base part.

[0110] For a biped robot, since the biped robot has feet, the biped robot itself has balance in the pitch angle direction; while for an under-actuated system robot, the motion plane of its single leg is in a fixed position (such as perpendicular) relationship with the base part, so that the motion of the leg only has degrees of freedom in the roll angle direction and the yaw angle direction, lacking the degree of freedom in the pitch angle direction, and the motion of the leg lacks rotational freedom in the roll angle direction.

[0111] Based on this, the motion control method of a biped robot will not be able to achieve the steady-state adjustment of the robot's center of mass in a specified direction, and thus cannot be used to generate the stepping motion and motion control of a robot lacking freedom in the roll angle direction between the motion plane of the legs and the base part.

[0112] Taking the biped-like motion as the in-place stepping motion as an example, a biped robot can generate a motion trajectory through the Zero Moment Point (ZMP). This way of generating the motion trajectory does not need to consider the balance control in the pitch angle direction. For an under-actuated system robot, however, the balance control in the pitch angle direction and the roll angle direction needs to be considered. Schematically, in the motion control method of the under-actuated system robot provided in the embodiments of the present application, the change of the center of mass position and the attitude change of the under-actuated system robot can be changed through relevant information such as the length change of the legs of the under-actuated system robot and the contact force between the wheels and the ground, so as to achieve the balance control of the under-actuated system robot, making it possible to apply the gait of the biped-like motion to the under-actuated system robot.

[0113] It should be understood that the mobile robot involved in the embodiments of the present application can be an under-actuated system robot. Further, the mobile robot involved in the embodiments of the present application is an under-actuated system robot that can achieve two-wheel balance, such as a wheel-legged robot that achieves two-wheel balance. Among them, there is a lack of freedom in the roll angle direction between the motion plane of the legs of this type of robot and the base part. Taking the wheel-legged robot including a first wheel part, a second wheel part, and a base part connected to the first wheel part and the second wheel part as an example, the motion planes of the legs of the first wheel part and the second wheel part are perpendicular to the base part.

[0114] Figure 17 The flowchart of the motion control method of the mobile robot provided by an exemplary embodiment of the present application is shown.

[0115] In some embodiments, the mobile robot is an underactuated system robot.

[0116] Wherein, the mobile robot includes a first wheel part with telescopic legs, a second wheel part with telescopic legs, and a base part connected to the first wheel part and the second wheel part. Refer to Figure 1 , taking the underactuated system robot as the wheel-legged robot 10 as an example, the wheel-legged robot 10 includes two wheel parts 12, and these two wheel parts 12 can be understood as the first wheel part and the second wheel part.

[0117] Figure 1 The tail 13 of the shown wheel-legged robot 10 is in the deployed state. Figure 6 The tail 13 of the shown wheel-legged robot 10 is in the retracted state. Exemplarily, taking the tail 13 in the retracted state as an example, the forward direction of the wheel-legged robot 10 is the direction from the counterweight leg 131 to the passive wheel 132.

[0118] In the following embodiments, it is described by taking the first wheel part as the wheel part 12 on the left side of the forward direction of the wheel-legged robot 10 and the second wheel part as the wheel part 12 on the right side of the forward direction of the wheel-legged robot 10 as an example.

[0119] Wherein, the first wheel part includes a first leg and a first wheel, the second wheel part includes a second leg and a second wheel, and both the first leg and the second leg include a thigh unit 121 and a calf unit 122. It should be understood that the first leg and the second leg have a telescopic function, the first wheel part corresponds to a first driving motor, the second wheel part corresponds to a second driving motor, and the first driving motor and the second driving motor are respectively used to drive different wheel parts to move. The specific driving method can refer to the foregoing content and will not be elaborated herein.

[0120] It should be understood that the mobile robot involved in the embodiments of the present application can be an underactuated system robot. Further, the mobile robot involved in the embodiments of the present application is an underactuated system robot capable of achieving two-wheel balance, such as a wheel-legged robot that achieves two-wheel balance. Among them, there is a lack of freedom degree in the roll angle direction between the motion plane of the legs of this type of robot and the base part. Taking the wheel-legged robot including a first wheel part, a second wheel part, and a base part connected to the first wheel part and the second wheel part as an example, the motion planes of the legs of the first wheel part and the second wheel part are perpendicular to the base part.

[0121] In the following, it is described in detail by taking the mobile robot as an underactuated system robot:

[0122] Schematically, the motion control method provided by the embodiments of the present application includes:

[0123] Step 102: Control the first wheel part and the second wheel part to be in a standing balance state.

[0124] Schematically, the base part is parallel to the horizontal reference plane in the standing balance state.

[0125] Wherein, the reference plane refers to a set of parameters and control points used to define the three-dimensional shape of the earth, and the horizontal reference plane is a kind of reference plane. The connection line between any point on the horizontal reference plane and the earth's center is perpendicular to the ground tangent line at that point.

[0126] In an alternative implementation scenario, the mobile robot is located on flat ground, and the base part is parallel to the ground in the standing balance state; in another alternative implementation scenario, the mobile robot is located on a slope, and the base part is parallel to the horizontal reference plane in the standing balance state. It can also be understood that in the control scenario of the mobile robot, the mobile robot may face various road conditions. Taking the road conditions including flat ground conditions and slope conditions as an example, no matter what road conditions the mobile robot moves on, if the mobile robot performs a biped-like motion, the base part is parallel to the ground in the flat ground condition in the standing balance state.

[0127] It can be understood that the standing balance state is a state in which the mobile robot is in static balance or dynamic balance. In this state, the base part remains parallel to the horizontal reference plane, and the mobile robot maintains the balance of its body. In some embodiments, the position of the mobile robot remains unchanged in the standing balance state, that is, there is no displacement; in other embodiments, the mobile robot moves in the standing balance state, that is, there is displacement. The following embodiments are all based on the example that the position of the mobile robot remains unchanged in the standing balance state.

[0128] Taking the underactuated system robot as a wheel-legged robot as an example, Figure 18 Fig. shows a schematic diagram of the standing balance state provided by an exemplary embodiment of the present application. Among them, the wheel-legged robot 10 includes a base part 11, a first wheel part 1201 and a second wheel part 1202.

[0129] Referring to the foregoing content, the forward direction of the wheel-legged robot 10 is the direction from the counterweight leg 131 to the passive wheel 132, or it can also be understood as the direction in which the passive wheel 132 points to the paper surface. Exemplarily, the first wheel part 1201 is the wheel part located on the left side of the forward direction of the wheel-legged robot 10, and the second wheel part 1202 is the wheel part located on the right side of the forward direction of the wheel-legged robot 10.

[0130] Refer to Figure 18, the wheel-legged robot 10 is located on flat ground. In the standing balance state, both the first wheel part 1201 and the second wheel part 1202 are in contact with the ground, and the base part 11 is parallel to the ground. Optionally, the first wheel part 1201 and the second wheel part 1202 have the same height, that is, the first wheel part 1201 and the second wheel part 1202 are at the same height in the standing balance state. Therefore, when the underactuated system robot is on flat ground, the standing balance state can also be understood as the equal height state.

[0131] Step 104: Control the mobile robot to perform biped-like motion based on the standing balance state.

[0132] Schematically, during the biped-like motion, the first wheel part and the second wheel part alternately touch the ground, and the base part tilts and sways.

[0133] Among them, the biped-like motion is a gait motion that imitates the human's alternating movement of the left and right legs. This gait motion can be specifically realized in various ways such as alternating walking and standing still in place. For example, when the mobile robot performs a standing still in place motion, the contact positions of the first wheel part and the second wheel part of the mobile robot remain unchanged; another example is that the mobile robot performs linear motion, curve motion, obstacle crossing motion, etc. with an alternating walking gait, and the first wheel part and the second wheel part of the mobile robot are displaced according to different motion states.

[0134] Taking the biped-like motion as a standing still in place motion as an example, during the standing still in place motion, the first wheel part and the second wheel part imitate the human's two feet and perform alternating lifting actions to achieve standing still in place.

[0135] According to the foregoing content, the first wheel part and the second wheel part have telescopic legs. Taking the first wheel part including the first leg and the second wheel part including the second leg as an example, the alternating contact of the first wheel part and the second wheel part with the ground and the tilting and swaying of the base part can be realized by the alternating telescoping of the first leg and the second leg.

[0136] Exemplarily, in the standing balance state, control the first leg to shorten and the second leg to elongate, so that the base part tilts in the first direction, and at this time, the first wheel part and the second wheel part continuously maintain the state of being in contact with the ground; subsequently, the first leg can be controlled to elongate and the second leg to shorten, so that the second wheel part is lifted off the ground and suspended in the air; after the first leg continuously elongates and the second leg continuously shortens for a certain period of time, the second wheel part will change from being suspended in the air to being in contact with the ground again, and at this time, the base part will also return to a state parallel to the horizontal reference plane, that is, the mobile robot returns to the standing balance state; subsequently, the first leg can be controlled to continue to elongate and the second leg to continue to shorten, so that the base part tilts in the second direction, and at this time, the first wheel part and the second wheel part continuously maintain the state of being in contact with the ground, and the first direction and the second direction are opposite directions; subsequently, the first leg can be controlled to shorten and the second leg to elongate, so that the first wheel part is lifted off the ground and suspended in the air, and after the first leg continuously shortens and the second leg continuously elongates for a certain period of time, the first wheel part will change from being suspended in the air to being in contact with the ground again, and at this time, the base part will also return to a state parallel to the horizontal reference plane, that is, the mobile robot returns to the standing balance state.

[0137] Based on the above process, the mobile robot completes a cycle of in-situ stepping motion. Subsequently, cyclic control can be performed based on the process described above to achieve multiple cycles of in-situ stepping motion of the mobile robot.

[0138] In summary, in the motion control method of the mobile robot provided in the embodiments of the present application, through the first wheel part with telescopic legs and the second wheel part with telescopic legs, the control of the mobile robot to perform biped-like motion based on the standing balance state is realized, thereby providing a new motion mode for the mobile robot. Among them, the biped-like motion has high terrain adaptability, strong application value, and strong robustness and stability.

[0139] Based on Figure 17 , Figure 19 is a flowchart of the motion control method of the mobile robot provided in an exemplary embodiment of the present application. Step 104 can be implemented as step 1041, step 1042, step 1043, and step 1044, and the biped-like motion of the mobile robot is divided into a cyclic conversion of the standing balance state, the first tilt state, the standing balance state, the second tilt state, and the standing balance state.

[0140] Taking the first wheel part including the first leg and the first wheel, and the second wheel part including the second leg and the second wheel as an example, Figure 20 is an action decomposition diagram of the biped-like motion provided in an exemplary embodiment of the present application.

[0141] In some embodiments, the mobile robot is an underactuated system robot.

[0142] Taking the movement of an underactuated system robot on flat ground as an example, if it is necessary to control the underactuated system robot to perform biped-like movement, first control the first wheel part and the second wheel part to be in a standing balance state. Among them, in the standing balance state, the first wheel and the second wheel are in contact with the ground, and the base part is parallel to the ground.

[0143] Optionally, taking the first wheel part being in the first direction of the base part and the second wheel part being in the second direction of the base part as an example, the biped-like movement of the underactuated system robot can be realized as follows:

[0144] 1. Control the underactuated system robot to change from the standing balance state to the first inclined state.

[0145] Schematically, in the standing balance state, control the first leg of the first wheel part to shorten and the second leg of the second wheel part to elongate, so that the underactuated system robot changes to the first inclined state.

[0146] Among them, during the telescopic process of the first leg and the second leg, the base part gradually tilts from the horizontal state parallel to the ground to the first direction, and both the first wheel and the second wheel are in contact with the ground.

[0147] Reference Figure 20 , the underactuated system robot is located on a flat road condition. In the standing balance state, the underactuated system robot maintains static balance, and the heights of the first wheel part and the second wheel part are the same, so that the base part is parallel to the ground.

[0148] Subsequently, drive the first wheel part and the second wheel part through the motor to control the first leg to shorten and the second leg to elongate. At this time, based on the connection between the first leg and the second leg and the base part, the base part will be driven to tilt, and the base part will tilt from the horizontal state parallel to the ground to the first direction. At the same time, control the first wheel and the second wheel to remain in contact with the ground.

[0149] 2. The underactuated system robot changes from the first inclined state to the first single - wheel - on - the - ground state.

[0150] Schematically, in the first inclined state, control the first leg of the first wheel part to elongate and the second leg of the second wheel part to shorten, so that the underactuated system robot changes to the first single-wheel contact state.

[0151] Among them, the first single-wheel contact state is the state where the first wheel is in contact with the ground and the second wheel is suspended.

[0152] Reference Figure 20, during the process of shortening the first leg and lengthening the second leg, the first wheel and the second wheel always remain in contact with the ground. Optionally, when the inclination degree of the fuselage of the underactuated system robot meets the switching state condition, the first wheel part and the second wheel part are driven by a motor to control the first leg to lengthen and the second leg to shorten. It should be understood that at the moment when the switching state condition is met, the inclination angle of the base part in the first direction will reach the maximum; when changing from the first inclination state to the first single-wheel contact state, the elongation of the first leg and the shortening of the second leg are carried out simultaneously, and the base part gradually inclines towards the second direction.

[0153] Subsequently, based on the length changes of the first leg and the second leg, it will cause the first wheel to still remain in contact with the ground, but the second wheel to be lifted off the ground and suspended. At this time, the underactuated system robot still maintains the balance of the fuselage, and the inclination angle of the base part in the first direction will gradually become smaller as the first leg and the second leg stretch and contract.

[0154] 3. Control the underactuated system robot to recover from the first single - wheel - on - the - ground state to the standing balance state.

[0155] Schematically, in the first single-wheel contact state, control the first leg to continue to lengthen and the second leg to continue to shorten, so that the underactuated system machine returns from the first single-wheel contact state to the standing balance state.

[0156] Among them, during the stretching and contracting process of the first leg and the second leg, the base part gradually inclines towards the second direction until it returns to the horizontal state parallel to the ground, and the second wheel returns from being suspended to being in contact with the ground.

[0157] Reference Figure 20 , as the first leg continues to lengthen and the second leg continues to shorten, based on the length changes of the first leg and the second leg, the inclination of the base part towards the second direction will cause the inclination angle of the base part in the first direction to gradually decrease until it returns to being parallel to the ground. At this time, the second wheel will return from being suspended to being in contact with the ground, so that the underactuated system robot returns to the standing balance state.

[0158] 4. Control the underactuated system robot to change from the standing balance state to the second inclined state.

[0159] Schematically, in the standing balance state, control the first leg of the first wheel part to lengthen and the second leg of the second wheel part to shorten, so that the underactuated system machine changes to the second inclination state.

[0160] Among them, during the stretching and contracting process of the first leg and the second leg, the base part gradually inclines from the horizontal state parallel to the ground towards the second direction, and both the first wheel and the second wheel are in contact with the ground.

[0161] Reference Figure 20, after the underactuated system robot restores the standing balance state, it can drive the first wheel part and the second wheel part to control the first leg to extend and the second leg to shorten. At this time, based on the connection between the first leg and the second leg and the base part, the base part will be driven to tilt. The base part will tilt from a horizontal state parallel to the ground to the second direction. At the same time, control the first wheel and the second wheel to remain in contact with the ground.

[0162] 5. The underactuated system robot changes from the second inclined state to the second single - wheel - on - the - ground state.

[0163] Schematically, in the second tilt state, control the first leg of the first wheel part to shorten and the second leg of the second wheel part to extend, so that the underactuated system robot changes to the second single-wheel contact state.

[0164] Among them, the second single-wheel contact state is a state where the first wheel is suspended and the second wheel is in contact with the ground.

[0165] Reference Figure 20 , during the process of the first leg extending and the second leg shortening, the first wheel and the second wheel always remain in contact with the ground. Optionally, when the tilt degree of the fuselage of the underactuated system robot meets the switching state condition, drive the first wheel part and the second wheel part through the motor to control the first leg to shorten and the second leg to extend. It should be understood that at the moment when the switching state condition is met, the tilt angle of the base part in the second direction will reach the maximum; when changing from the second tilt state to the second single-wheel contact state, the shortening of the first leg and the extension of the second leg are carried out simultaneously, and the base part gradually tilts towards the first direction.

[0166] Subsequently, based on the length change of the first leg and the second leg, it will cause the second wheel to still remain in contact with the ground, but the first wheel is lifted off the ground and suspended. At this time, the underactuated system robot still maintains the balance of the fuselage, and the tilt angle of the base part in the second direction will gradually decrease as the first leg and the second leg stretch and contract.

[0167] 6. Control the underactuated system robot to recover from the second single - wheel - on - the - ground state to the standing balance state.

[0168] Schematically, in the second single-wheel contact state, control the first leg to continue to shorten and the second leg to continue to extend, so that the underactuated system machine restores from the second single-wheel contact state to the standing balance state.

[0169] Among them, during the stretching and contracting process of the first leg and the second leg, the base part gradually tilts towards the first direction until it restores to a horizontal state parallel to the ground, and the first wheel changes from being in contact with the ground to being suspended and then resumes contact with the ground again.

[0170] Reference Figure 20, as the first leg continues to shorten and the second leg continues to elongate, based on the length changes of the first leg and the second leg, the inclination of the base part in the first direction will cause the inclination angle of the base part in the second direction to gradually decrease until it returns to being parallel to the ground. At this time, the first wheel will return from being suspended to touching the ground, thereby enabling the underactuated system robot to return to the standing balance state.

[0171] The above process gives a motion cycle of the underactuated system robot in the biped-like motion. Among them, within one motion cycle, the base part gradually experiences the processes of being parallel to the ground, inclining in the first direction, returning to being parallel to the ground, inclining in the second direction, and returning to being parallel to the ground, so as to form the tilting and swaying of the base part.

[0172] It should be understood that by repeatedly cycling through the six steps given above, multiple motion cycles of the biped-like motion can be achieved, which will not be elaborated here.

[0173] Reference Figure 19 , taking the first wheel part being located in the first direction of the base part and the second wheel part being located in the second direction of the base part as an example, steps 1041, 1042, 1043, and 1044 are specifically as follows:

[0174] Step 1041: Control the mobile robot to change from the standing balance state to the first inclination state.

[0175] Schematically, the first inclination state is the state where the base part inclines in the first direction.

[0176] In some embodiments, the mobile robot is an underactuated system robot.

[0177] Taking the underactuated system robot as a wheel-legged robot as an example, Figure 21 FIG. shows a schematic diagram of the first inclination state provided by an exemplary embodiment of the present application. Among them, the wheel-legged robot 10 includes a base part 11, a first wheel part 1201, and a second wheel part 1202.

[0178] Referring to the foregoing content, the forward direction of the wheel-legged robot 10 is the direction from the counterweight leg 131 to the passive wheel 132, and it can also be understood as the direction in which the passive wheel 132 points into the paper. Exemplarily, the first wheel part 1201 is the wheel part located on the left side of the forward direction of the wheel-legged robot 10, and the second wheel part 1202 is the wheel part located on the right side of the forward direction of the wheel-legged robot 10.

[0179] Reference Figure 21, the wheel-legged robot 10 is located on flat ground. In the first inclined state, both the first wheel part 1201 and the second wheel part 1202 are on the ground, and the base part 11 is inclined in the first direction. Among them, the inclination of the base part 11 in the first direction will cause the inclination of the fuselage of the wheel-legged robot 10. Optionally, the inclination angle of the wheel-legged robot 10 is used to indicate the inclination angle of the fuselage of the wheel-legged robot 10. Refer to Figure 21 , this inclination angle is used to indicate the included angle between the base part 11 and the horizontal plane of the ground.

[0180] Optionally, step 1041 can be implemented as follows:

[0181] Control the first leg of the first wheel part to shorten and the second leg of the second wheel part to elongate, so that the under-actuated system machine is in the first inclined state;

[0182] Among them, during the telescopic process of the first leg and the second leg, the base part gradually inclines from the horizontal state parallel to the horizontal reference plane to the first direction, and both the first wheel and the second wheel are on the ground.

[0183] In an alternative implementation scenario, the mobile robot is located on flat ground, and the heights of the first leg and the second leg are equal in the standing balance state. Subsequently, control the first leg to shorten and the second leg to elongate, so that the height of the first leg decreases and the height of the second leg increases.

[0184] In another alternative implementation scenario, the mobile robot is located on a slope, and the heights of the first leg and the second leg are different in the standing balance state. Taking the first leg being higher than the second leg as an example, during the process of controlling the first leg to shorten and the second leg to elongate, the height of the first leg will still be higher than the height of the second leg within the first time period. If the first leg is continuously controlled to shorten and the second leg to elongate, then at a certain moment after the first time period, the heights of the first leg and the second leg may become equal. Subsequently, if the first leg is continuously controlled to shorten and the second leg to elongate, then within the second time period, the height of the first leg will be lower than the height of the second leg, and the second time period is the time period after the first time period.

[0185] Step 1042: Control the mobile robot to recover from the first inclined state to the standing balance state.

[0186] Schematically, during the process of the mobile robot recovering from the first inclined state to the standing balance state, the first wheel of the first wheel part touches the ground, and the second wheel of the second wheel part is suspended.

[0187] Referring to the foregoing, during the process of the mobile robot recovering from the first tilted state to the standing balance state, the first wheel remains in contact with the ground, and the second wheel will successively experience changes of contacting the ground, being suspended, and recovering to contact the ground. Among them, when the first wheel is in contact with the ground and the second wheel is suspended, the state of the mobile robot can be regarded as the first single-wheel contact state.

[0188] Optionally, step 1042 can be implemented as follows:

[0189] Control the first leg of the first wheel part to extend, and the second leg of the second wheel part to shorten, so that the mobile robot is in the first single-wheel contact state, and the first single-wheel contact state is the state where the first wheel is in contact with the ground and the second wheel is suspended;

[0190] Control the first leg to continue to extend, and the second leg to continue to shorten, so that the underactuated system robot returns from the first single-wheel contact state to the standing balance state;

[0191] Among them, during the telescopic process of the first leg and the second leg, the base part gradually tilts in the second direction until it returns to the horizontal state parallel to the horizontal reference plane, and the second wheel changes from contacting the ground to being suspended and then recovers to contact the ground again.

[0192] In some embodiments, the mobile robot is an underactuated system robot.

[0193] Still taking the underactuated system robot as a wheel-legged robot as an example, Figure 22 Fig. shows a schematic diagram of the first single-wheel contact state provided by an exemplary embodiment of the present application. Among them, the wheel-legged robot 10 includes a base part 11, a first wheel part 1201 and a second wheel part 1202, and the forward direction of the wheel-legged robot 10 is from the counterweight leg 131 to the passive wheel 132.

[0194] Reference Figure 22 , in the first single-wheel contact state, the first wheel part 1201 is in contact with the ground, and the second wheel part 1202 is suspended, and the base part 11 tilts in the first direction. Among them, the tilt of the base part 11 in the first direction will cause the tilt of the fuselage of the wheel-legged robot 10.

[0195] In an alternative implementation scenario, if the mobile robot is located on flat ground, the length of the first leg is the same as the height of the second leg in the standing balance state. At this time, during the process of the mobile robot recovering from the first tilted state to the standing balance state, the heights of the first leg and the second leg will change, and this change can also be measured by the lengths of the first leg and the second leg.

[0196] Optionally, when the lengths of the first leg and the second leg are the same in the standing balance state (i.e., the mobile robot is on flat ground), the mobile robot is in the first single-wheel touchdown state within the first time period. Among them:

[0197] Within the first time period, the length of the first leg is shorter than that of the second leg;

[0198] At the end node of the first time period, the first leg and the second leg are of equal length.

[0199] Among them, at the time node before the initial node of the first time period, the mobile robot is still in the first inclination state. At this time, the length of the first leg will be much shorter than that of the second leg; and based on the fact that the length of the first leg is shortened to the shortest and the length of the second leg is extended to the longest, the inclination angle of the base part in the first direction reaches the maximum.

[0200] Subsequently, at the initial node of the first time period, control the first leg to extend and the second leg to shorten. At this time, the length of the first leg is still shorter than that of the second leg. As time goes by, based on the continuous extension of the first leg and the continuous shortening of the second leg, the length difference between the first leg and the second leg gradually decreases; until reaching the end node of the first time period, the lengths of the first leg and the second leg are the same.

[0201] Step 1043: Control the mobile robot to change from the standing balance state to the second inclination state.

[0202] Schematically, the second inclination state is the state in which the base part inclines in the second direction.

[0203] In some embodiments, the mobile robot is an underactuated system robot.

[0204] Taking the underactuated system robot as a wheel-legged robot as an example, Figure 23 Fig. shows a schematic diagram of the second inclination state provided by an exemplary embodiment of the present application. Among them, the wheel-legged robot 10 includes a base part 11, a first wheel part 1201 and a second wheel part 1202. The forward direction of the wheel-legged robot 10 is from the counterweight leg 131 to the passive wheel 132.

[0205] Refer to Figure 23 , the wheel-legged robot 10 is on flat ground. In the second inclination state, both the first wheel part 1201 and the second wheel part 1202 are on the ground, and the base part 11 inclines in the second direction. Among them, the inclination of the base part 11 in the second direction will cause the inclination of the fuselage of the wheel-legged robot 10.

[0206] Optionally, step 1043 can be implemented as follows:

[0207] Control the first leg of the first wheel part to extend and the second leg of the second wheel part to shorten, so that the underactuated system machine is in the second inclined state;

[0208] Wherein, during the telescopic process of the first leg and the second leg, the base part gradually tilts from a horizontal state parallel to the horizontal reference plane to the second direction, and both the first wheel and the second wheel are on the ground.

[0209] In an alternative implementation scenario, the mobile robot is on flat ground, and the heights of the first leg and the second leg are equal after restoring the standing balance state. Subsequently, control the first leg to extend and the second leg to shorten, so that the height of the first leg increases and the height of the second leg decreases.

[0210] In another alternative implementation scenario, the mobile robot is on a slope, and the heights of the first leg and the second leg are different after restoring the standing balance state. Taking the first leg being higher than the second leg as an example, during the process of controlling the first leg to extend and the second leg to shorten, the height of the first leg in the third time period will still be higher than the height of the second leg. The third time period is the time period after the second time period, and the description of the second time period can refer to the foregoing content. If the first leg is continuously controlled to extend and the second leg to shorten, then at a certain moment after the third time period, the heights of the first leg and the second leg may become equal. Subsequently, if the first leg is continuously controlled to extend and the second leg to shorten, then in the fourth time period, the height of the first leg will be lower than the height of the second leg. The fourth time period is the time period after the third time period.

[0211] Step 1044: Control the mobile robot to restore from the second inclined state to the standing balance state.

[0212] Schematically, during the process of the mobile robot restoring from the second inclined state to the standing balance state, the second wheel is on the ground and the first wheel is suspended.

[0213] Referring to the foregoing content, during the process of the mobile robot restoring from the second inclined state to the standing balance state, the second wheel remains on the ground, and the first wheel will successively experience changes of being on the ground, suspended, and restored to being on the ground. Among them, when the first wheel is suspended and the second wheel is on the ground, the state of the mobile robot can be regarded as the second single-wheel-on-the-ground state.

[0214] Optionally, step 1044 can be implemented as follows:

[0215] Control the first leg of the first wheel part to shorten and the second leg of the second wheel part to extend, so that the mobile robot is in the second single-wheel-on-the-ground state, and the second single-wheel-on-the-ground state is the state where the first wheel is suspended and the second wheel is on the ground;

[0216] Control the first leg to continuously shorten and the second leg to continuously elongate, so that the underactuated system machine resumes from the second single-wheel contact state to the standing balance state;

[0217] Wherein, during the telescopic process of the first leg and the second leg, the base gradually tilts in the first direction until it resumes the horizontal state parallel to the horizontal reference plane, and the first wheel changes from being in contact with the ground to being suspended and then resumes contact with the ground again.

[0218] In some embodiments, the mobile robot is an underactuated system robot.

[0219] Still taking the underactuated system robot as a wheel-legged robot as an example, Figure 24 FIG. shows a schematic diagram of the second single-wheel contact state provided by an exemplary embodiment of the present application. Wherein, the wheel-legged robot 10 includes a base portion 11, a first wheel portion 1201 and a second wheel portion 1202, and the forward direction of the wheel-legged robot 10 is from the counterweight leg 131 to the passive wheel 132.

[0220] Refer to Figure 24 , in the second single-wheel contact state, the first wheel portion 1201 is suspended and the second wheel portion 1202 is in contact with the ground, and the base portion 11 tilts in the second direction. Wherein, the tilt of the base portion 11 in the second direction will cause the tilt of the fuselage of the wheel-legged robot 10.

[0221] In an alternative implementation scenario, if the mobile robot is on flat ground, the length of the first leg is the same as the height of the second leg in the standing balance state. At this time, during the process of the mobile robot resuming from the second tilt state to the standing balance state, the heights of the first leg and the second leg will change, and this change can also be measured by the lengths of the first leg and the second leg.

[0222] Optionally, when the lengths of the first leg and the second leg are the same in the standing balance state (i.e., the mobile robot is on flat ground), the mobile robot is in the second single-wheel contact state within the second time period, where:

[0223] Within the second time period, the length of the first leg is longer than the length of the second leg;

[0224] At the termination node of the second time period, the first leg and the second leg are of equal length.

[0225] Wherein, at the time node before the initial node of the second time period, the mobile robot is still in the second tilt state. At this time, the length of the first leg will be much longer than the length of the second leg; and based on the first leg extending to the longest and the second leg shortening to the shortest, the tilt angle of the base in the second direction reaches the maximum.

[0226] Subsequently, at the initial node of the second time period, control the first leg to shorten and the second leg to elongate. At this time, the length of the first leg is still longer than that of the second leg. As time goes by, based on the continuous shortening of the first leg and the continuous elongation of the second leg, the length difference between the first leg and the second leg gradually decreases; until reaching the termination node of the second time period, the lengths of the first leg and the second leg are the same.

[0227] Taking the first tilting state as the left tilting state and the second tilting state as the right tilting state as an example, Figure 25 It is a motion decomposition diagram of biped-like motion provided by an exemplary embodiment of the present application. Among them, the left vertical line in the figure is used to identify the left wheel part, the right vertical line is used to identify the right wheel part, and the enclosed area of the two vertical lines and the two horizontal lines is used to identify the base part.

[0228] Refer to Figure 25 , taking the mobile robot located on flat ground as an example, the biped-like motion can be realized as follows:

[0229] Control the left wheel part and the right wheel part to be in an equal height state, so that the base part is parallel to the ground.

[0230] Control the leg of the left wheel part to shorten and the leg of the right wheel part to elongate, so that the base part tilts to the left as the two wheel parts expand and contract. At the same time, control the wheels of the two wheel parts to remain in contact with the ground, so that the mobile robot gradually changes from the equal height state of the two wheel parts to the left tilting state. Optionally, when the tilting angle of the mobile robot reaches the first limit value, stop the expansion and contraction control of the two wheel parts to avoid the mobile robot from tipping over. Among them, the first limit value of the tilting angle of the mobile robot can be set according to actual needs, such as determined according to the mass of the mobile robot and the length change of the legs of the two wheel parts.

[0231] When the tilting angle of the mobile robot reaches the first limit value, control the leg of the left wheel part to elongate and the leg of the right wheel part to shorten. At this time, the wheel of the right wheel part will be suspended off the ground, and the mobile robot enters the first single-wheel contact state. As the leg of the left wheel part elongates and the leg of the right wheel part shortens, the leg lengths of the two wheel parts will be the same at the termination moment of the first single-wheel contact state, and the mobile robot will also recover from the first single-wheel contact state to the standing balance state. At this time, due to the expansion and contraction of the two wheel parts, the base part also returns from the left tilt to being parallel to the ground.

[0232] Similar to the left-leaning state, after the mobile robot resumes the standing balance state, control the leg of the left wheel part to extend and the leg of the right wheel part to shorten, so that the base part tilts to the right as the two wheel parts expand and contract. At the same time, control the wheels of the two wheel parts to keep in contact with the ground, so that the mobile robot gradually changes from the equal-height state of the two wheel parts to the right-leaning state. Optionally, when the tilt angle of the mobile robot reaches the second limit value, stop the telescopic control of the two wheel parts to avoid the mobile robot from tipping over. Among them, the second limit value of the tilt angle of the mobile robot can be set according to actual needs, such as determined according to the mass of the mobile robot and the length change of the legs of the two wheel parts.

[0233] When the tilt angle of the mobile robot reaches the second limit value, control the leg of the left wheel part to shorten and the leg of the right wheel part to extend. At this time, the wheel of the left wheel part will be suspended off the ground, and the mobile robot enters the second single-wheel contact state. As the leg of the left wheel part shortens and the leg of the right wheel part extends, the leg lengths of the two wheel parts will be the same at the end moment of the second single-wheel contact state, and the mobile robot will also resume the standing balance state from the second single-wheel contact state. At this time, due to the expansion and contraction of the two wheel parts, the base part also returns from the right tilt to parallel to the ground.

[0234] In summary, in the motion control method of the mobile robot provided in the embodiment of the present application, the specific process of a motion cycle of the biped-like motion is given. Among them, through the telescopic control of the first wheel part with telescopic legs and the second wheel part with telescopic legs, the biped-like motion of the mobile robot can be realized to improve the flexibility of the mobile robot.

[0235] State switching conditions during the biped-like motion process:

[0236] According to the foregoing content, in order to realize the motion control of the biped-like motion of the mobile robot, state switching can be performed on the mobile robot under different conditions.

[0237] Optionally, when the tilt angle of the mobile robot reaches the specified limit, perform state switching of the mobile robot. Among them, the tilt angle of the mobile robot is used to indicate the angle between the plane where the base part is located and the plane parallel to the horizontal reference plane. Refer to Figure 25 , taking the mobile robot located on flat ground as an example, the tilt angle of the mobile robot can be understood as the angle between the first plane and the second plane. Among them, the first plane is the plane where the base part is located, and the second plane is the plane parallel to the ground.

[0238] Optionally, taking the tilt angle of the mobile robot as the state switching condition, it can specifically include the following four situations:

[0239] 1. The tilt angle of the mobile robot reaches the first limit.

[0240] Optionally, step 1041 can be implemented as follows: when the tilt angle of the mobile robot reaches the first limit, control the mobile robot to change from the standing balance state to the first tilt state.

[0241] Taking the mobile robot located on flat ground as an example, Figure 26 FIG. shows a schematic diagram of the standing balance state changing to the first tilt state provided by an exemplary embodiment of the present application. When the mobile robot is in the standing balance state, the first wheel part and the second wheel part are at the same height. Subsequently, control the first wheel part to shorten and the second wheel part to elongate. During this process, the posture of the mobile robot changes, and the base part tilts in the first direction where the first wheel part is located.

[0242] Schematically, to implement controlling the first wheel part to shorten and the second wheel part to elongate, the following conditions need to be met: the tilt angle of the mobile robot reaches the first limit θ1. Refer to Figure 26 , θ1 can be 0 degrees, that is, the base part is parallel to the ground. In another alternative implementation scenario, when the mobile robot is located on a slope, θ1 can still be 0 degrees, and at this time the base part is no longer parallel to the ground.

[0243] 2. The tilt angle of the mobile robot reaches the second limit.

[0244] Optionally, step 1042 can be implemented as follows: when the tilt angle of the mobile robot reaches the second limit, control the mobile robot to recover from the first tilt state to the standing balance state.

[0245] Taking the mobile robot located on flat ground as an example, Figure 27 FIG. shows a schematic diagram of the first tilt state recovering to the standing balance state provided by an exemplary embodiment of the present application. Refer to Figure 26 , in the first tilt state, the first wheel part and the second wheel part are on the ground. Subsequently, control the first wheel part to elongate and control the second wheel part to shorten, so that the mobile robot changes from the first tilt state to the first single-wheel landing state. Figure 27 The left side shown in is the first single-wheel landing state after the change of the first tilt state. At this time, the first wheel part is on the ground and the second wheel part is suspended. Subsequently, continue to control the first wheel part to elongate and the second wheel part to shorten. During this process, the posture of the mobile robot changes, and the base part tilts in the second direction where the second wheel part is located until it returns to being parallel to the ground.

[0246] Schematically, to implement controlling the first wheel part to elongate and the second wheel part to shorten, the following conditions need to be met: the tilt angle of the mobile robot reaches the second limit θ2. Refer to Figure 26 and Figure 27, when the tilt angle of the mobile robot reaches θ1, control the mobile robot to change from the standing balance state to the first tilt state; when the tilt angle of the mobile robot reaches θ2, control the mobile robot to change from the first tilt state to the first single-wheel-on-the-ground state until it returns to the standing balance state.

[0247] It should be understood that the value of θ2 can be set according to actual needs.

[0248] Exemplarily, in combination with the mechanical structure and mass distribution of the mobile robot, the deflection range of the projection of the center of the mobile robot on the ground during the biped-like movement is calculated according to the change in the length and the change speed of the legs of the first wheel part and the second wheel part. Among them, this deflection range affects the attitude change of the mobile robot, and the value of θ2 can be determined according to the calculated deflection range. For example, the value of θ2 is one of 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees.

[0249] 3. The tilt angle of the mobile robot reaches the third limit.

[0250] Optionally, step 1043 can be implemented as follows: when the tilt angle of the mobile robot reaches the third limit, control the mobile robot to change from the standing balance state to the second tilt state.

[0251] Taking the mobile robot located on flat ground as an example, Figure 28 shows a schematic diagram of the standing balance state changing to the second tilt state provided by an exemplary embodiment of the present application. After restoring the standing balance state, the first wheel part and the second wheel part return to the same height. Subsequently, control the first wheel part to extend and the second wheel part to shorten. During this process, the mobile robot undergoes an attitude change, and the base part tilts towards the second direction where the second wheel part is located.

[0252] Schematically, to achieve controlling the first wheel part to extend and the second wheel part to shorten, the following conditions need to be met: the tilt angle of the mobile robot reaches the third limit θ3. Refer to Figure 28 , similar to the first limit, θ3 can be 0 degrees, that is, the base part is parallel to the ground. In another alternative implementation scenario, when the mobile robot is located on a slope, θ3 can still be 0 degrees, and at this time the base part is no longer parallel to the ground.

[0253] 4. The tilt angle of the mobile robot reaches the fourth limit.

[0254] Optionally, step 1044 can be implemented as follows: when the tilt angle of the mobile robot reaches the fourth limit, control the mobile robot to return to the standing balance state from the second tilt state.

[0255] Taking the mobile robot located on flat ground as an example, Figure 29Shows a schematic diagram of the second tilted state provided by an exemplary embodiment of the present application being restored to the standing balance state. Refer to Figure 28 , in the second tilted state, the first wheel part and the second wheel part touch the ground, and then control the first wheel part to shorten and control the second wheel part to elongate, so that the mobile robot changes from the second tilted state to the second single-wheel touching the ground state. Figure 29 The state of the second single-wheel touching the ground after the change of the second tilted state is shown on the left side in . At this time, the first wheel part is suspended and the second wheel part touches the ground. Subsequently, continue to control the first wheel part to shorten and the second wheel part to elongate. During this process, the posture of the mobile robot changes, and the base part tilts towards the first direction where the first wheel part is located until it is restored to be parallel to the ground.

[0256] Schematically, to achieve controlling the first wheel part to shorten and the second wheel part to elongate, the following conditions need to be met: the tilt angle of the mobile robot reaches the fourth limit θ4. Refer to Figure 26 and Figure 27 , similar to the second limit, when the tilt angle of the mobile robot reaches θ3, control the mobile robot to change from the standing balance state to the second tilted state; when the tilt angle of the mobile robot reaches θ4, control the mobile robot to change from the second tilted state to the second single-wheel touching the ground state until it is restored to the standing balance state.

[0257] It should be understood that the value of θ4 can be set according to actual needs.

[0258] Exemplarily, in combination with the mechanical structure and mass distribution of the mobile robot, calculate the deflection range of the projection of the center of the mobile robot on the ground during the biped-like movement according to the change in the length and the change speed of the legs of the first wheel part and the second wheel part. Among them, this deflection range affects the posture change of the mobile robot, and the value of θ4 can be determined according to the calculated deflection range. For example, the value of θ4 is one of 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees.

[0259] Classification of biped-like movement:

[0260] According to the foregoing content, it should be understood that biped-like movement is a gait movement that imitates humans to perform alternating left and right leg movements, and this gait movement can be specifically implemented in various ways such as alternating walking and standing still in place.

[0261] Optionally, the biped-like movement includes at least one of the following movements:

[0262] · Standing still in place movement;

[0263] · Straight-line movement;

[0264] · Curvilinear movement;

[0265] · In-place circular stepping motion;

[0266] · Obstacle-crossing motion.

[0267] Among them, the in-place stepping motion can also be understood as the motion where the mobile robot does not undergo displacement. During the in-place stepping motion of the mobile robot, the landing positions of the first wheel part and the second wheel part of the mobile robot remain unchanged. The linear motion, the curvilinear motion, and the obstacle-crossing motion can also be understood as the motions where the mobile robot undergoes displacement. During the linear motion, the curvilinear motion, the in-place circular stepping motion, and the obstacle-crossing motion of the mobile robot in an alternating walking gait, the first wheel part and the second wheel part of the mobile robot undergo displacement according to different motions.

[0268] Optionally, the biped-like motion includes the in-place stepping motion; during the in-place stepping motion, the landing positions of the first wheel part and the second wheel part after being suspended are the same as the initial landing positions, or the distance difference is less than the first tolerance value.

[0269] During the process in which the mobile robot imitates humans to alternately lift the left and right feet to achieve the in-place stepping motion, the mobile robot does not undergo displacement, so that the first wheel part and the second wheel part are suspended and landed at the initial landing positions.

[0270] Schematically, the first tolerance value can be understood as the error value of the distance difference, and the first tolerance value can be set according to actual needs. It should be understood that the landing positions of the first wheel part and the second wheel part after being suspended should be at the same position as the initial landing positions. To ensure the body balance of the mobile robot, a relatively small tolerance range can be set for the distance difference between the two positions, and the first tolerance value is a value in this tolerance range, such as the maximum value of the tolerance range.

[0271] Optionally, the biped-like motion includes at least one of the linear motion, the curvilinear motion, the in-place circular stepping motion, and the obstacle-crossing motion; during the linear motion, or the curvilinear motion, or the in-place circular stepping motion, or the obstacle-crossing motion, the landing positions of the first wheel part or the second wheel part after being suspended are different from the landing positions before suspension, and the distance difference is not less than the second tolerance value; the base part alternately tilts and sways in the third direction and the fourth direction, and the included angle between the third direction or the fourth direction and the forward direction of the mobile robot is an acute angle.

[0272] Among them, linear motion can be understood as the mobile robot imitating humans to walk forward or backward with alternating left and right feet. Curvilinear motion can be understood as the mobile robot imitating humans to walk in a non-linear manner along various curvilinear trajectories such as S-lines, figure eights, and obstacle courses with alternating left and right feet. Obstacle-crossing motion can be understood as the mobile robot imitating humans to walk in a straight line or curve to cross obstacles such as small mounds with alternating left and right feet.

[0273] Schematically, the second tolerance value can be set according to actual needs. It should be understood that based on the need for displacement and / or attitude adjustment in linear motion, curvilinear motion, in-place turning and stepping motion, and obstacle-crossing motion, the landing positions of the first wheel part and the second wheel part after suspension should be at different positions from the initial landing positions. To achieve the displacement and / or attitude adjustment of the mobile robot, a preset tolerance range can be set for the distance difference between the two positions. The second tolerance value is a value within this tolerance range, such as the minimum value of the tolerance range.

[0274] In the above three motions, the mobile robot undergoes displacement, so that the landing positions of the first wheel part and the second wheel part after suspension are different from the landing positions before suspension. At the same time, due to the need for the mobile robot to undergo displacement, the position of the center of mass of the mobile robot will also change following the forward direction of the mobile robot.

[0275] Taking curvilinear motion as an example, when the mobile robot changes from the standing balance state to the first inclined state, the first wheel part and the second wheel part remain in contact with the ground. Control the mobile robot to change from the first inclined state to the first single-wheel contact state. At this time, the first wheel part of the mobile robot will be controlled to turn, for example, control the first wheel part to turn to the right front of the initial forward direction (which can be understood as the third direction); then, control the mobile robot to return from the first single-wheel contact state to the standing balance state, and the forward direction of the mobile robot will change. The mobile robot will face the left front, and the position of the center of mass of the mobile robot will also move towards the right front of the initial forward direction.

[0276] Control the mobile robot to change from the standing balance state to the second inclined state, and the first wheel part and the second wheel part remain in contact with the ground. Subsequently, control the mobile robot to change from the second inclined state to the second single-wheel contact state. At this time, the second wheel part of the mobile robot will be controlled to turn, for example, control the second wheel part to turn to the left front of the initial forward direction (which can be understood as the fourth direction); then, control the mobile robot to return from the second single-wheel contact state to the standing balance state, and the forward direction of the mobile robot will change. The mobile robot will face the right front, and the position of the center of mass of the mobile robot will also move towards the left front of the initial forward direction.

[0277] In the above process, the angles between the left front and the right front and the moving direction of the mobile robot are acute angles. It can be understood that the mobile robot can move in any sub-direction of the original moving direction during the curved motion.

[0278] According to the foregoing, in the bipedal-like motion, when the mobile robot changes from the first wheel-on-the-ground state to the second single-wheel-on-the-ground state, it needs to transition through a standing balance state so that the mobile robot can maintain its body balance.

[0279] In some embodiments, the mobile robot further comprises a tail portion which is transmission-connected to the base portion, and a third wheel is arranged on the tail portion. The tail portion is retracted in a standing balanced state, and the third wheel does not touch the ground. Figure 1 In the wheel-legged robot 10 shown, the third wheel is the passive wheel 132 provided on the tail 13; Figure 6 When the tail portion 13 is in the retracted state, the passive wheel 132 does not touch the ground and can be fixed to the bottom of the base portion 11 to avoid affecting the movement of the wheel portion 12.

[0280] Optionally, step 104 may be implemented as follows:

[0281] Controlling the mobile robot to change from a standing balance state to a first single-wheel grounding state, wherein the first single-wheel grounding state is a state in which the first wheel is on the ground and the second wheel is suspended;

[0282] Control the tail to unfold until the third wheel touches the ground;

[0283] Controlling the first leg of the first wheel portion to shorten and the second leg of the second wheel portion to lengthen, so that the mobile robot changes from a first single-wheel grounding state to a second single-wheel grounding state, wherein the second single-wheel grounding state is a state in which the first wheel is suspended and the second wheel is grounded;

[0284] The mobile robot is controlled to recover from the second single-wheel landing state to a standing balance state.

[0285] The specific description of the mobile robot changing from the standing balance state to the first single-wheel grounding state can refer to the above content. It should be understood that when the mobile robot is in the second single-wheel grounding state, the grounding wheel can also be adjusted by the tail, and the specific description can be referred to the following content, which will not be repeated.

[0286] In the first single wheel touching the ground state, the tail can be controlled to unfold until the third wheel touches the ground, so that the mobile robot can maintain body balance when the first wheel and the second wheel touch the ground, thereby improving the stability of the mobile robot.

[0287] Subsequently, control the first leg of the first wheel to shorten and the second leg of the second wheel to elongate. It can be understood that the first leg of the mobile robot is lifted and the second leg is lowered until the second wheel touches the ground. During this process, only the third wheel provided on the tail of the mobile robot touches the ground; after the second wheel touches the ground, the first wheel no longer shortens and remains suspended, so that the mobile robot changes from the first single-wheel landing state to the second single-wheel landing state.

[0288] Subsequently, the mobile robot can be controlled to return from the second single-wheel landing state to the standing balance state. This process can be specifically referred to the foregoing content and will not be elaborated here.

[0289] According to the above content, in the biped-like movement, when the mobile robot changes from the first wheel landing state to the second single-wheel landing state, there is no need to go through a standing balance state for transition, and the tail can be used for assistance to replace the landing wheel.

[0290] The change methods from the first wheel landing state to the second single-wheel landing state given schematically above can all be applied to the biped-like movement of the mobile robot and will not be elaborated here.

[0291] There are multiple implementation methods for the biped-like movement. Multiple specific implementation methods of in-place stepping movement, linear movement, curved movement, in-place circular stepping movement, and obstacle-crossing movement are given in the above examples. It should be understood that other methods that can imitate biped movement are within the protection scope of this application and will not be elaborated here.

[0292] For example, other movement methods are added between the first wheel part and the second wheel part. Optionally, the movement control method of the mobile robot provided in the embodiments of the present application further includes:

[0293] In the biped-like movement, control the first wheel part and the second wheel part to move.

[0294] Exemplarily, step 104 can be implemented as follows:

[0295] Control the mobile robot to change from the standing balance state to the first single-wheel landing state, where the first single-wheel landing state is the state where the first wheel touches the ground and the second wheel is suspended;

[0296] Control the first wheel to leave the ground so that the mobile robot makes at least one jumping movement;

[0297] Control the mobile robot to change from the first single-wheel landing state to the second single-wheel landing state, where the second single-wheel landing state is the state where the first wheel is suspended and the second wheel touches the ground;

[0298] Control the second wheel to leave the ground so that the mobile robot makes at least one jumping movement;

[0299] Control the mobile robot to recover from the second single-wheel landing state to the standing balance state.

[0300] Among them, the change of the mobile robot from the standing balance state to the first single-wheel landing state, from the first single-wheel landing state to the second single-wheel landing state, and the recovery from the second single-wheel landing state to the standing balance state can all refer to the foregoing content and will not be elaborated here.

[0301] In the state of single-wheel landing, the wheel on the ground can be controlled to leave the ground so that the mobile robot can perform at least one jumping action, thus imitating a human-like single-leg jumping action. It should be understood that the number of single-leg jumps of the mobile robot can be set according to actual needs. For example, in the first single-wheel landing state, control the first wheel to leave the ground twice so that the mobile robot performs two jumping movements; then change to the second single-wheel landing state and control the second wheel to leave the ground twice.

[0302] Wheel state during the biped-like movement:

[0303] During the biped-like movement of the mobile robot, the mobile robot is in a state of imitating the alternating movement of the left and right legs of a human. Referring to the foregoing content, both the first wheel part and the second wheel part include wheels. Compared with the biped movement of a human, the mobile robot can also control the wheels to slide.

[0304] Schematically, during the biped-like movement of the mobile robot, the first wheel of the first wheel part and / or the second wheel of the second wheel part are also locked or unlocked to make the biped-like movement more flexible.

[0305] Optionally, during the biped-like movement, the first wheel and the second wheel are in a locked state.

[0306] Optionally, during the biped-like movement, the first wheel and / or the second wheel are in an unlocked state.

[0307] In an optional implementation scenario, the first wheel and the second wheel are in a locked state and are locked to prevent the wheels from sliding during the biped-like movement of the mobile robot.

[0308] Among them, the locked state can be understood as determining a reference signal with an unchanged position for the first wheel and / or the second wheel. Based on this reference signal, the first wheel and / or the second wheel can perform slight movements near the reference point. That is, there is a movement error of the first wheel and / or the second wheel at the reference point in the locked state, and this error is used to achieve the balance of the fuselage of the mobile robot. It should be understood that the movement error of the first wheel and / or the second wheel at the reference point is small and can be ignored.

[0309] In another alternative implementation scenario, at least one of the first wheel and the second wheel is in an unlocked state to enable steering and / or sliding of the wheel in the unlocked state.

[0310] Optionally, the motion control method of the mobile robot provided in the embodiments of the present application further includes:

[0311] During the process of biped-like motion, controlling the first wheel part and / or the second wheel part in the unlocked state to move.

[0312] Schematically, the motion performed by the first wheel part and / or the second wheel part during biped-like motion can be one of a sliding motion, a jumping motion, and a rotational motion.

[0313] It should be understood that the motion performed by the first wheel part and / or the second wheel part during biped-like motion can be performed in any one of the standing balance state, the first inclination state, the first single-wheel landing state, the second inclination state, and the second single-wheel landing state.

[0314] The following gives two different examples taking the sliding motion as an example:

[0315] For example, controlling the first wheel part and the second wheel part to be in the standing balance state, and then controlling the mobile robot to change from the standing balance state to the first inclination state. When the mobile robot is in the first inclination state, controlling the first wheel and the second wheel to be unlocked, and then providing driving force to the first wheel and the second wheel so that the first wheel and the second wheel drive the mobile robot to slide in a state where the fuselage is inclined.

[0316] Another example is to control the first wheel part and the second wheel part to be in the standing balance state, and then control the mobile robot to gradually change from the standing balance state to the first single-wheel landing state. When the mobile robot is in the first single-wheel landing state, controlling the first wheel to be unlocked, and then controlling the first wheel to slide so that the mobile robot imitates the action of single-leg skating.

[0317] Exemplarily, the locking and unlocking of the first wheel and / or the second wheel can be performed multiple times during biped-like motion, so that the mobile robot can achieve a combination of sliding and alternating landing of the left and right wheel parts, further improving the flexibility of the mobile robot. For example, during the process of biped-like motion, locking and unlocking the first wheel and / or the second wheel multiple times to control the mobile robot to perform a human-like skating performance.

[0318] Optionally, during the process of biped-like motion, controlling the first wheel part and / or the second wheel part in the unlocked state to move can be implemented in at least one of the following implementation manners:

[0319] (1) The mobile robot makes a single - wheel sliding motion.

[0320] Control the mobile robot to change from a standing balance state to a first single-wheel contact state, where the first single-wheel contact state is a state in which the first wheel is in contact with the ground and the second wheel is suspended.

[0321] When the first wheel is in an unlocked state, control the first wheel to slide a first distance.

[0322] Among them, the specific description of the mobile robot changing from the standing balance state to the first single-wheel contact state can be referred to the foregoing content. It should be understood that when the mobile robot is in the second single-wheel contact state, it can also perform single-wheel sliding motion. For specific details, refer to the following content and will not be elaborated here.

[0323] Schematically, in the single-wheel contact state, the wheel in contact with the ground can be unlocked to be in an unlocked state, and the suspended wheel can be unlocked or not. Subsequently, control the wheel in contact with the ground to slide so that the mobile robot generates a displacement. For example, unlock the first wheel to be in an unlocked state and the second wheel to be in a locked state; control the first wheel to slide.

[0324] Among them, the first distance can be set according to actual needs, and this application does not limit it.

[0325] In some embodiments, the mobile robot can perform single-wheel sliding motion in a cycle of the first single-wheel contact state or the second single-wheel contact state. For example, the mobile robot changes from the standing balance state to the first single-wheel contact state, and then performs single-wheel sliding motion; after a sliding duration of 1, control the mobile robot to change from the first single-wheel contact state to the second single-wheel contact state, and then perform single-wheel sliding motion.

[0326] (2) The mobile robot makes a single - wheel rotating motion.

[0327] Control the mobile robot to change from a standing balance state to a first single-wheel contact state, where the first single-wheel contact state is a state in which the first wheel is in contact with the ground and the second wheel is suspended.

[0328] When the first wheel is in an unlocked state, control the first wheel to rotate.

[0329] Among them, the specific description of the mobile robot changing from the standing balance state to the first single-wheel contact state can be referred to the foregoing content. It should be understood that when the mobile robot is in the second single-wheel contact state, it can also perform single-wheel sliding motion. For specific details, refer to the following content and will not be elaborated here.

[0330] Schematically, in the state of a single wheel touching the ground, the wheel touching the ground can be unlocked so that it can be in an unlocked state, and the suspended wheel can be unlocked or not. Subsequently, control the wheel touching the ground to rotate so as to change the forward direction of the mobile robot. For example, unlock the first wheel to make it in an unlocked state, and the second wheel is in a locked state; control the first wheel to rotate.

[0331] Among them, the rotation angle of the first wheel can be set according to actual needs, and the present application does not limit this. Exemplarily, the rotation angle of the first wheel is 360 degrees so that the mobile robot can imitate the movement of rotating in place for one week. Or, the rotation angle of the first wheel can be determined according to the environmental information where the mobile robot is located. The environmental information at least includes road condition information where the mobile robot is located, surrounding obstacle information, etc. For example, when there is a columnar obstacle on the periphery of the mobile robot, the first wheel can be controlled to rotate 90 degrees to change the forward direction of the mobile robot and avoid the obstacle.

[0332] In some embodiments, the mobile robot can perform single-wheel rotation in a cycle of the first single-wheel touching the ground state or the second single-wheel touching the ground state. For example, the mobile robot changes from the standing balance state to the first single-wheel touching the ground state, and then controls the first wheel to perform single-wheel rotation by 90 degrees; after the sliding duration 2, controls the mobile robot to change from the first single-wheel touching the ground state to the second single-wheel touching the ground state, and then controls the second wheel to perform single-wheel rotation by 180 degrees; after the sliding duration 3, controls the mobile robot to change from the second single-wheel touching the ground state to the first single-wheel touching the ground state, and then controls the second wheel to perform single-wheel rotation by 270 degrees.

[0333] (3) The mobile robot makes a skateboard motion.

[0334] Control the mobile robot to change from the standing balance state to the first single-wheel touching the ground state. The first single-wheel touching the ground state is a state where the first wheel touches the ground and the second wheel is suspended;

[0335] In the case where the first wheel is in an unlocked state, control the first wheel to slide a second distance;

[0336] In the case where the second wheel is in a locked state, control the second leg of the second wheel part to extend until the second wheel touches the ground, and then control the second leg to shorten until the second leg returns to the length when it is in the locked state.

[0337] Among them, the specific description of the mobile robot changing from the standing balance state to the first single-wheel touching the ground state can refer to the foregoing content. It should be understood that when the mobile robot is in the second single-wheel touching the ground state, it can also perform skateboarding movement. For details, refer to the following content and will not be elaborated here.

[0338] Schematically, in the state of single-wheel landing, the landing wheel can be unlocked to be in the unlocked state, and the suspended wheel can be left unlocked to be in the locked state. Subsequently, control the landing wheel to slide so that the mobile robot generates a displacement; after sliding a certain distance, control the suspended wheel to land once and then lift off, and continue to control the landing wheel to slide. For example, unlock the first wheel to be in the unlocked state, and do not unlock the second wheel to be in the locked state; after controlling the first wheel to slide a second distance, control the second leg of the second wheel part to extend and then shorten, so that the second wheel makes an action similar to single-point landing and then retracting; subsequently, continue to control the first wheel to slide.

[0339] Among them, the second distance can be set according to actual needs, and this application does not limit it.

[0340] It should be understood that the unlocked or locked states of the first wheel and the second wheel can be controlled either when the mobile robot is in the standing balance state or when the mobile robot is in the single-wheel landing state, and this application does not limit it.

[0341] It should be understood that the above content is only an exemplary example, and other movement modes of the wheel part and the movement of the left and right wheel parts alternating in landing are all within the protection scope of this application, and will not be elaborated here.

[0342] In the foregoing multiple embodiments, the implementation methods of biped-like movement are given. Among them, in each implementation method, the first wheel and the second wheel can perform various different types of sliding, rotating, jumping and other actions. It should be understood that the above-mentioned implementation methods of various biped-like movements and various types of actions of the first wheel and the second wheel can be combined and implemented.

[0343] For example, control the mobile robot to become the first single-foot landing state; then unlock the first wheel and control the first wheel to rotate, so that the mobile robot makes a full-circle rotation in place; then control the mobile robot to become the second inclined state, unlock the first wheel and the second wheel, and control the first wheel and the second wheel to slide, so that the mobile robot makes a side-sliding action; then control the mobile robot to become the second single-foot landing state, unlock the second wheel, and control the second wheel to slide, so that the mobile robot makes a single-wheel sliding movement.

[0344] Based on this, it is possible to control the mobile robot to achieve more complex and richer biped-like movements. For example, control the mobile robot to imitate a human being to perform a biped-like movement of figure skating.

[0345] According to the foregoing, during the process of biped-like movement, the first wheel part and the second wheel part touch the ground alternately, so the lengths of the legs of the first wheel part and the second wheel part no longer remain the same, and the heights of the two wheels will change.

[0346] In some embodiments, the mobile robot is an underactuated system robot.

[0347] Taking the underactuated system robot as a wheel-leg robot as an example, referring to Figure 13 and 14 , in the right-handed Cartesian coordinate system of the three-dimensional control system established by the wheel-leg robot 10, for the balance control in the pitch angle direction, according to the different ground contact conditions of the first wheel and the second wheel, the motor torques of the corresponding wheel parts are also different.

[0348] Optionally, when both the first wheel part and the second wheel part are in contact with the ground, the sum of the motor torques of the first drive motor corresponding to the first wheel part and the second drive motor corresponding to the second wheel part is the first torque;

[0349] When the first wheel part is in contact with the ground and the second wheel part is suspended, the motor torque of the first drive motor is the first torque;

[0350] When the second wheel part is in contact with the ground and the first wheel part is suspended, the motor torque of the second drive motor is the first torque.

[0351] Schematically, in the standing balance state, the first inclination state, and the second inclination state, the first wheel and the second wheel are in contact with the ground, that is, the contact points between the underactuated system robot and the ground are two wheels. At this time, according to the PID controller, the motor torques of the first drive motor corresponding to the first wheel part and the second drive motor corresponding to the second wheel part can both be obtained as τ.

[0352] Schematically, in the first single-wheel contact state, the first wheel part is in contact with the ground and the second wheel part is suspended; in the second single-wheel contact state, the second wheel part is in contact with the ground and the first wheel part is suspended. That is, in the first single-wheel contact state or the second single-wheel contact state, the contact point between the underactuated system robot and the ground is a single wheel. At this time, according to the PID controller, the motor torque of the drive motor corresponding to the wheel part in contact with the ground can be obtained as 2τ, so as to use the contact torque of a single wheel with the ground to achieve the balance control of the robot in the pitch direction during the biped-like movement process.

[0353] According to the foregoing, the biped-like motion of the mobile robot can be controlled by planning the length changes and change speeds of the legs of the first wheel part and the second wheel part of the mobile robot. Among them, by analyzing the motion and structural characteristics of the mobile robot, the biped-like motion can be divided into multiple states involved in the foregoing content. During the state change process, the mobile robot is controlled to execute the planned actions. At the same time, combined with the mechanical structure and mass distribution of the mobile robot, the deflection range of the center of gravity projection on the ground during the entire motion process of the robot can be calculated to determine the state switching conditions for different states. For specific details, reference can be made to the foregoing content and will not be elaborated herein.

[0354] Schematically, during the biped-like motion, the control information of each joint of the mobile robot can be determined in the following manner: After determining the biped-like motion, the biped-like motion can be decomposed and divided into multiple states. Each state corresponds to a set of control parameters, and a set of control parameters can be used to determine information such as the positions, angles, and torques of each joint; subsequently, a set of control parameters and the full-body dynamics model of the mobile robot are used as inputs and processed by the controller of the mobile robot to obtain the control information under this set of control parameters. The control information at least includes information such as the joint torque, joint angular velocity, and base inclination of each joint. The robot is controlled based on this control information.

[0355] It should be understood that the above process is only an exemplary example and can be adjusted according to actual needs. The present application does not make any limitations in this regard.

[0356] Optionally, during the biped-like motion, the motions of the first wheel part, the second wheel part, and the base part are controlled according to at least one of the following information:

[0357] · The length change of the first leg of the first wheel part;

[0358] · The angle and change amount of at least one joint motor of the first leg;

[0359] · The length change of the second leg of the second wheel part;

[0360] · The angle and change amount of at least one joint motor of the second leg

[0361] · The contact force between the first wheel of the first wheel part and the ground;

[0362] · The contact force between the second wheel of the second wheel part and the ground;

[0363] · The pitch angle information and angular velocity of the mobile robot;

[0364] · The roll angle information and angular velocity of the mobile robot;

[0365] · Yaw angle information and angular velocity of the mobile robot.

[0366] In some embodiments, the mobile robot is an underactuated system robot.

[0367] Taking the underactuated system robot as a wheel-legged robot as an example, refer to Figure 13 the right-handed Cartesian coordinate system of the wheel-legged robot 10 shown, Figure 30 which shows a schematic diagram of simulating and deriving joint angle information based on the cross-section of the wheel-legged robot 10 provided by an exemplary embodiment of the present application.

[0368] Refer to Figure 13 , Figure 30 which shows the XZ coordinate system constructed corresponding to the cross-section of the wheel-legged robot 10. The wheel 3300 can be one of the first wheel and the second wheel. Among them, the origin is located at the midpoint of point x1 and point x5. Taking the distance between x1 and x5 as l0 as an example, the coordinate of x1 is (0.5l0, 0), and the coordinate of x5 is (-0.5l0, 0). Given that the coordinate of the wheel 3300 is (x3, z3), the purpose is to calculate the joint angle information, including joint angle 3310, joint angle 3320, joint angle 3330, and joint angle 3340.

[0369] Since the coordinate of the wheel 3300 is known, and x1 and x5 are known. Therefore, the lengths of line segment l5 and line segment l6 can be calculated based on the coordinates. Schematically, the calculation formulas are shown as Formula 1 and Formula 2 below:

[0370] Formula 1:

[0371] Formula 2:

[0372] Since the lengths of the wheel legs l1 and l2 are known, the joint angle 3310 can be obtained according to the cosine theorem. Represented by θ 11 , the calculation formula is shown as Formula 3 below:

[0373] Formula 3:

[0374] Similarly, the joint angle 3320, the joint angle 3330, and the joint angle 3340 can be obtained.

[0375] Based on the calculated joint angles, input them into the drive motor corresponding to the wheel 3300, and the controller can output the motor torque to control the rotation of the leg configuration corresponding to the wheel 3300 to the corresponding joint angles, so as to control the wheel 3300 to reach the specified position (x3, z3).

[0376] Figure 31The figure shows a schematic diagram of determining the leg change amount when the mobile robot provided by an exemplary embodiment of the present application is in the first tilt state or the second tilt state. The mobile robot is an underactuated system robot. Among them, in triangle ACD, the length of DC is 0.5l0, and the calculation formula for the wheel-leg change length AC is as shown in Formula Four below:

[0377] Formula Four:

[0378] Where Δl represents the wheel-leg change length, represents the reference roll angle magnitude of the underactuated system robot.

[0379] In some embodiments, when the first wheel and / or the second wheel of the underactuated system robot turn, the body generates a roll angle tilt, and the robot will generate a centrifugal force. The magnitude of the centrifugal force is related to the horizontal speed v. To maintain balance, the body needs to be tilted so that a component of gravity balances the magnitude of the centrifugal force. The roll angle magnitude corresponding to the tilted body and the horizontal speed v is as shown in Formula Five below:

[0380] Formula Five:

[0381] Where m represents the weight of the underactuated system robot, and R represents the turning radius.

[0382] Schematically, the change amount of the underactuated system robot's wheel legs is divided into the following two cases:

[0383] First, the underactuated system robot generates a relatively small roll angle.

[0384] Schematically, the roll angle generated by the underactuated system robot is less than (or equal to) a preset angle threshold. When the roll angle is relatively small, then the calculation of the wheel-leg change amount is as shown in Formula Six below:

[0385] Formula Six:

[0386] Second, the underactuated system robot generates a relatively large roll angle.

[0387] Schematically, the roll angle generated by the underactuated system robot is greater than (or equal to) a preset angle threshold. When the roll angle is relatively large, the calculation of the wheel-leg change amount is as shown in Formula Seven and Formula Eight below:

[0388] Formula Seven:

[0389] Formula Eight:

[0390] Based on the foregoing, taking the mobile robot as an underactuated system robot as an example, during the process of biped-like movement, the control of the first wheel part and the second wheel part of the underactuated system robot can be achieved through the following steps:

[0391] 1. Obtain trajectory planning information, which is used to represent the target motion trajectory of the underactuated system robot; trajectory;

[0392] Among them, the trajectory planning information can be pre-set information, or the trajectory planning information is generated after the underactuated system robot collects road information in real time.

[0393] When the trajectory planning information is pre-set information, the trajectory of the underactuated system robot can be set according to the road information, and the trajectory is input into the memory of the underactuated system robot to generate trajectory planning information. The underactuated system robot moves according to the set trajectory according to the trajectory planning information. When the trajectory planning information is generated by the underactuated system robot collecting road information in real time, the underactuated system robot includes a road scanning device. Optionally, the underactuated system robot includes a camera for image acquisition of the road and road planning based on the acquired images.

[0394] 2. Adjust the leg configuration of the underactuated system robot based on the trajectory planning information, and determine the reference motion state data and / or robot attitude data based on the trajectory planning information; 3. Based on the adjusted leg configuration, control the underactuated system robot to perform a biped - like motion along the target motion trajectory according to the reference motion state data and / or robot attitude data.

[0395] Among them, the reference motion state data is used to represent the motion state of the underactuated system robot when moving along the target motion trajectory, and the robot attitude data is used to represent the structural state of the underactuated system robot when moving along the target motion trajectory.

[0396] In some embodiments, the reference motion state data is used to represent the requirements that the motion state needs to meet when the underactuated system robot moves in a manner that conforms to the target motion trajectory. That is, after determining the reference motion state data, the underactuated system robot needs to adjust the current motion state with the reference motion state data as the target. In some embodiments, the reference motion state data includes reference speed information, reference yaw angle information, reference motion curvature radius information, etc. In some embodiments, the reference motion state data is calculated based on the trajectory planning information, or the reference motion state data is pre-stored according to the trajectory planning information. That is, when setting the motion trajectory of the underactuated system robot, the motion state data at a specified position on the motion trajectory is pre-set to obtain the corresponding reference motion state data at the specified position, and the reference motion state data is stored corresponding to the trajectory planning information. Thus, when the underactuated system robot moves to the specified position, the reference motion state data can be obtained from the stored data.

[0397] Schematically, the acquisition method of the reference motion state data includes at least one of the following methods:

[0398] First, receive the control operation of the remote controller and determine the reference motion state data according to the control operation of the remote controller. Among them, the remote controller can control the motion speed, motion direction, motion mode, etc. of the under-actuated system robot, determine the change in the motion state of the under-actuated system robot according to the control operation of the remote controller, and thus determine the reference motion state data.

[0399] Second, read the data file and obtain the reference motion state data of the current under-actuated system robot from the data file. That is to say, the reference motion state data of the under-actuated system robot at different positions is preset and stored in the data file, and the corresponding reference motion state data is determined according to the position where the current under-actuated system robot is located.

[0400] Third, collect the visual information of the under-actuated system robot and generate the reference motion state data based on the visual information. That is to say, a camera is set on the under-actuated system robot, the road information of the under-actuated system robot on the planned trajectory is collected through the camera, and the reference motion state data for the next motion is calculated according to the road information.

[0401] It should be noted that the above methods for obtaining the reference motion state data are only illustrative examples, and the embodiments of the present application do not limit the methods for obtaining the reference motion state data.

[0402] Similarly, the control signal for the biped-like motion of the under-actuated system robot can be given by the remote controller, or the control signal for the biped-like motion is obtained by analyzing the visual information and / or tactile information. Optionally, a camera and / or a tactile sensor are set on the under-actuated system robot to collect the road information and the force condition of the under-actuated system robot, and whether to control the under-actuated system robot to perform biped-like motion is determined by analyzing the road information and the force condition.

[0403] In some embodiments, the reference motion state data includes reference speed information. Then, the pitch angle information of the underactuated system robot is obtained. The pitch angle information represents the angle of the underactuated system robot in the forward and backward directions, that is, the angle at which the underactuated system robot pitches forward or pitches backward under the action of wheel control. Based on the reference speed information and the pitch angle information, a balance control torque for controlling the underactuated system robot is determined. The balance control torque refers to the torque used to keep the underactuated system robot in a balanced state. Thus, based on the balance control torque, the torque for controlling the underactuated system robot is determined. Among them, the balanced state refers to the state in which the underactuated system robot maintains balance in the pitch angle direction. That is, in the balanced state, the underactuated system robot has no tendency to fall forward or backward. Among them, when the underactuated system robot remains stationary, the balanced state refers to the state in which the underactuated system robot remains stable without any tendency to fall forward or backward. When the underactuated system robot is in motion, the balanced state refers to the state in which the underactuated system robot moves in balance following the rotation of the wheels. Among them, the main body of the underactuated system robot is supported by the wheel-leg part and remains in a vertical state without any tendency to fall forward or backward.

[0404] In some embodiments, when controlling the underactuated system robot to move straight forward, the balance control torque is directly input into the wheel control motor to control the rotation of the wheels, thereby controlling the movement of the underactuated system robot. In another embodiment, when controlling the underactuated system robot to move along a curved trajectory, different torques are applied to the motors corresponding to the two wheels of the underactuated system robot, so that one wheel travels at a faster speed and the other wheel travels at a slower speed, thereby realizing the curved movement of the underactuated system robot. Among them, after determining the reference yaw angle information according to the curved trajectory, the incremental torque applied to the motors corresponding to different wheels is determined based on the reference yaw angle information.

[0405] In some embodiments, the bending degree of the double wheel-legs of the underactuated system robot is adjusted according to the trajectory planning information. The bending degree of the wheel-legs of the underactuated system robot is related to the length of the wheel-legs. Optionally, the greater the bending degree of the wheel-legs of the underactuated system robot, the shorter the corresponding length of the wheel-legs.

[0406] In some embodiments, the robot attitude data includes the wheel-leg adjustment data of the first wheel part and the second wheel part, that is, the wheel-leg adjustment data is determined based on the trajectory planning information. In some embodiments, according to the trajectory planning information, the magnitude of the roll angle that the underactuated system robot needs to generate is first determined. That is, based on the given roll angle, the wheel-leg adjustment data of the underactuated system robot is determined.

[0407] Optionally, the magnitude of the roll angle determined according to the trajectory planning information is a value within a preset roll angle range, so as to avoid the imbalance problem caused by over-control due to the roll angle exceeding the preset roll angle range.

[0408] Figure 13 Figure 32

[0409] According to the foregoing, the underactuated system robot includes a first wheel and a second wheel. The first wheel and the second wheel are respectively arranged on both sides of the underactuated system robot. The first wheel is driven and controlled by a first driving motor, and the second wheel is driven and controlled by a second driving motor. When determining the motor torque for controlling the underactuated system robot, a first torque for driving the first driving motor and a second torque for driving the second driving motor are determined.

[0410] Input the first torque into the first driving motor to drive the first wheel to rotate through the first driving motor; input the second torque into the second driving motor to drive the second wheel to rotate through the second driving motor. Thus, drive the underactuated system robot to perform a biped-like motion along the target motion trajectory according to the rotation of the first wheel and the rotation of the second wheel.

[0411] In some embodiments, when controlling the underactuated system robot to perform a biped-like motion according to the reference motion state data, it is also necessary to collect the pitch angle information and / or yaw angle information of the underactuated system robot through an inertial sensor (Inertial Measurement Unit, IMU). Among them, the pitch angle information represents the angle information of the underactuated system robot in the forward and backward directions, and the yaw angle information represents the angle information of the underactuated system robot in the direction around the vertical rotation axis.

[0412] Subsequently, determine the balance control torque and incremental torque of the underactuated system robot based on the pitch angle information and / or yaw angle information. Among them, the balance control torque can refer to Figure 33 the relevant description. The incremental torque refers to the torque used to control the rotation of the underactuated system robot. Subsequently, through the combination of the balance control torque and the incremental torque, the control of the underactuated system robot is realized.

[0413] In some embodiments, when controlling the underactuated system robot to perform a biped-like motion according to the robot attitude data, the robot attitude data includes wheel-leg adjustment data, that is, the wheel-leg change amount. Taking the wheel-leg change amount as Δl as an example, then extend one wheel-leg and shorten the other wheel-leg through the wheel-leg change amount.

[0414] In some embodiments, the adjusted position coordinates of the wheel are determined according to the change amount of the wheel-leg, and the joint angles of the wheel-leg are calculated according to the adjusted position coordinates, and the joint angles are input into the motor controlling the wheel-leg to implement the adjustment of the wheel-leg.

[0415] Schematically, an embodiment of the present application further provides a mobile robot.

[0416] Schematically, the mobile robot includes a first wheel part with telescopic legs, a second wheel part with telescopic legs, and a base part connected to the first wheel part and the second wheel part; a controller is provided in the mobile robot, and the controller is used to control the mobile robot to implement the motion control method of the mobile robot as described above.

[0417] It should be understood that the mobile robot involved in the embodiments of the present application may be an underactuated system robot. Further, the mobile robot involved in the embodiments of the present application is a mobile robot capable of achieving two-wheel balance, such as a wheel-leg robot that achieves two-wheel balance.

[0418] Among them, there is a lack of freedom in the roll angle direction between the motion plane of the legs of this type of robot and the base part. Taking the wheel-leg robot including a first wheel part, a second wheel part, and a base part connected to the first wheel part and the second wheel part as an example, the motion planes of the legs of the first wheel part and the second wheel part are perpendicular to the base part.

[0419] Among them, the setting of the controller can be set according to actual needs, and the present application does not make any limitations. Any mobile robot that can achieve the goal of keeping the load object from falling on the base part through the motion control of the controller is within the protection scope of the present application. The motion control method of the mobile robot has been described in detail in the foregoing content and can be referred to and will not be elaborated here.

[0420] The following is the device embodiment of the present application. For the details not described in detail in the device embodiment, reference can be made to the corresponding records in the foregoing method embodiment, and details will not be elaborated here.

[0421] Figure 33 The schematic diagram of the motion control device of the mobile robot provided by an exemplary embodiment of the present application is shown. The device includes:

[0422] A control module 3220, configured to control the first wheel part with telescopic legs and the second wheel part with telescopic legs included in the mobile robot to be in a standing balance state;

[0423] The control module 3220 is further configured to control the mobile robot to perform biped-like motion based on the standing balance state;

[0424] Among them, the base part of the mobile robot is parallel to the horizontal reference plane in the standing balance state. During the process of biped-like movement, the first wheel part and the second wheel part alternately touch the ground, and the base part tilts and sways.

[0425] Optionally, the first wheel part is located in the first direction of the base part, and the second wheel part is located in the second direction of the base part; the control module 3220 is configured to control the mobile robot to change from the standing balance state to the first tilt state, where the first tilt state is the state in which the base part tilts in the first direction; control the mobile robot to recover from the first tilt state to the standing balance state; control the mobile robot to change from the standing balance state to the second tilt state, where the second tilt state is the state in which the base part tilts in the second direction; control the mobile robot to recover from the second tilt state to the standing balance state; among them, during the process of the mobile robot recovering from the first tilt state to the standing balance state, the first wheel of the first wheel part touches the ground, and the second wheel of the second wheel part is suspended; during the process of the mobile robot recovering from the second tilt state to the standing balance state, the second wheel touches the ground, and the first wheel is suspended.

[0426] Optionally, the control module 3220 is configured to control the first leg of the first wheel part to shorten and the second leg of the second wheel part to elongate, so that the under-actuated system machine is in the first tilt state; among them, during the telescopic process of the first leg and the second leg, the base part gradually tilts from the horizontal state parallel to the horizontal reference plane to the first direction, and both the first wheel and the second wheel touch the ground.

[0427] Optionally, the control module 3220 is configured to control the first leg of the first wheel part to elongate and the second leg of the second wheel part to shorten, so that the mobile robot is in the first single-wheel touchdown state, where the first single-wheel touchdown state is the state in which the first wheel touches the ground and the second wheel is suspended; control the first leg to continue to elongate and the second leg to continue to shorten, so that the under-actuated system machine recovers from the first single-wheel touchdown state to the standing balance state; among them, during the telescopic process of the first leg and the second leg, the base part gradually tilts to the second direction until it returns to the horizontal state parallel to the horizontal reference plane, and the second wheel changes from touching the ground to being suspended and then touches the ground again.

[0428] Optionally, the lengths of the first leg and the second leg are the same in the standing balance state, and the mobile robot is in the first single-wheel touchdown state within the first time period, where: within the first time period, the length of the first leg is shorter than the length of the second leg; at the end node of the first time period, the first leg and the second leg are of equal length.

[0429] Optionally, the control module 3220 is configured to control the first leg of the first wheel part to extend and the second leg of the second wheel part to shorten, so that the under-actuated system machine is in the second inclined state; wherein, during the telescopic process of the first leg and the second leg, the base part gradually tilts from the horizontal state parallel to the horizontal reference plane to the second direction, and both the first wheel and the second wheel are on the ground.

[0430] Optionally, the control module 3220 is configured to control the first leg of the first wheel part to shorten and the second leg of the second wheel part to extend, so that the mobile robot is in the second single-wheel landing state, and the second single-wheel landing state is a state where the first wheel is suspended and the second wheel is on the ground; control the first leg to continuously shorten and the second leg to continuously extend, so that the under-actuated system machine returns from the second single-wheel landing state to the standing balance state; wherein, during the telescopic process of the first leg and the second leg, the base part gradually tilts to the first direction until it returns to the horizontal state parallel to the horizontal reference plane, and the first wheel changes from being on the ground to being suspended and then returns to being on the ground again.

[0431] Optionally, the lengths of the first leg and the second leg are the same in the standing balance state, and the mobile robot is in the second single-wheel landing state within the second time period, wherein: within the second time period, the length of the first leg is longer than that of the second leg; at the termination node of the second time period, the first leg and the second leg are of equal length.

[0432] Optionally, the control module 3220 is configured to control the mobile robot to change from the standing balance state to the first inclined state when the inclination angle of the mobile robot reaches the first limit; wherein, the inclination angle of the mobile robot is used to indicate the included angle between the plane where the base part is located and the plane parallel to the horizontal reference plane.

[0433] Optionally, the control module 3220 is configured to control the mobile robot to return from the first inclined state to the standing balance state when the inclination angle of the mobile robot reaches the second limit; wherein, the inclination angle of the mobile robot is used to indicate the included angle between the plane where the base part is located and the plane parallel to the horizontal reference plane.

[0434] Optionally, the control module 3220 is configured to control the mobile robot to change from the standing balance state to the second inclined state when the inclination angle of the mobile robot reaches the third limit; wherein, the inclination angle of the mobile robot is used to indicate the included angle between the plane where the base part is located and the plane parallel to the horizontal reference plane.

[0435] Optionally, the control module 3220 is configured to control the mobile robot to return from the second inclined state to the standing balance state when the inclination angle of the mobile robot reaches the fourth limit; wherein, the inclination angle of the mobile robot is used to indicate the included angle between the plane where the base part is located and the plane parallel to the horizontal reference plane.

[0436] Optionally, the biped-like movement includes at least one of the following movements: marching in place; linear movement; curvilinear movement; circular marching in place; obstacle crossing movement.

[0437] Optionally, the biped-like movement includes marching in place; during the marching in place, the landing positions of the first wheel part and the second wheel part after suspension are the same as the initial landing positions, or the distance difference is less than the first tolerance value.

[0438] Optionally, the biped-like movement includes at least one of linear movement, curvilinear movement, circular marching in place, and obstacle crossing movement; during the linear movement, or curvilinear movement, or circular marching in place, or obstacle crossing movement, the landing position of the first wheel part or the second wheel part after suspension is different from the landing position before suspension, and the distance difference is not less than the second tolerance value; the base part tilts and sways alternately in the third direction and the fourth direction, and the angle between the third direction or the fourth direction and the forward direction of the mobile robot is an acute angle.

[0439] Optionally, during the biped-like movement, the first wheel of the first wheel part and the second wheel of the second wheel part are in a locked state.

[0440] Optionally, during the biped-like movement, the first wheel of the first wheel part and / or the second wheel of the second wheel part are in an unlocked state.

[0441] Optionally, the control module 3220 is further configured to control the first wheel part and / or the second wheel part in the unlocked state to perform a sliding movement during the biped-like movement.

[0442] Optionally, during the biped-like movement, the movements of the first wheel part, the second wheel part, and the base part are controlled according to at least one of the following information: the length change of the first leg of the first wheel part; the angle and change amount of at least one joint motor of the first leg; the length change of the second leg of the second wheel part; the angle and change amount of at least one joint motor of the second leg; the contact force between the first wheel of the first wheel part and the ground; the contact force between the second wheel of the second wheel part and the ground; the pitch angle information and angular velocity of the mobile robot; the roll angle information and angular velocity of the mobile robot; the yaw angle information and angular velocity of the mobile robot.

[0443] Optionally, when both the first wheel part and the second wheel part are on the ground, the sum of the motor torques of the first drive motor corresponding to the first wheel part and the second drive motor corresponding to the second wheel part is the first torque; when the first wheel part is on the ground and the second wheel part is suspended, the motor torque of the first drive motor is the first torque; when the second wheel part is on the ground and the first wheel part is suspended, the motor torque of the second drive motor is the first torque.

[0444] Figure 33 FIG. 2 shows a structural block diagram of an electronic device 3300 provided by an exemplary embodiment of the present application.

[0445] The electronic device 3300 may be a portable mobile terminal, such as: an electronic device for controlling a mobile robot, a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III), an MP4 (Moving Picture Experts Group Audio Layer IV) player, a laptop computer or a desktop computer. The electronic device 3300 may also be referred to by other names such as user equipment, portable terminal, laptop terminal, desktop terminal, etc. In an embodiment of the present application, the electronic device 3300 may be implemented as a control device part in a robot.

[0446] Generally, the electronic device 3300 includes a processor 3301 and a memory 3302.

[0447] The processor 3301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 3301 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 3301 may also include a main processor and a co-processor. The main processor is a processor for processing data in the wake state, also known as the CPU (Central Processing Unit); the co-processor is a low-power processor for processing data in the standby state. In some embodiments, the processor 3301 may be integrated with a GPU (Graphics Processing Unit), and the GPU is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 3301 may further include an AI (Artificial Intelligence) processor, and the AI processor is used to process computational operations related to machine learning.

[0448] The memory 3302 may include one or more computer-readable storage media, which may be non-transitory. The memory 3302 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices and flash memory storage devices. In some embodiments, the non-transitory computer-readable storage media in the memory 3302 is used to store at least one instruction for being executed by the processor 3301 to implement the motion control method of the mobile robot provided in the method embodiments of the present application.

[0449] In some embodiments, the electronic device 3300 may further optionally include: a peripheral device interface 3303 and at least one peripheral device. The processor 3301, the memory 3302, and the peripheral device interface 3303 may be connected through a bus or signal lines. Each peripheral device may be connected to the peripheral device interface 3303 through a bus, signal lines, or a circuit board. Specifically, the peripheral device includes at least one of a radio frequency circuit 3304, a display screen 3305, a camera assembly 3306, an audio circuit 3307, a positioning assembly 3308, and a power supply 3309.

[0450] The peripheral device interface 3303 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 3301 and the memory 3302. In some embodiments, the processor 3301, the memory 3302, and the peripheral device interface 3303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 3301, the memory 3302, and the peripheral device interface 3303 may be implemented on a separate chip or circuit board, and the present embodiment does not limit this.

[0451] The radio frequency circuit 3304 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 3304 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency circuit 3304 converts electrical signals into electromagnetic signals for transmission, or converts the received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 3304 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, and so on. The radio frequency circuit 3304 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to: the World Wide Web, a metropolitan area network, an intranet, generations of mobile communication networks (2G, 3G, 4G, and 5G), a wireless local area network, and / or a Wi-Fi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 3304 may further include a circuit related to NFC (Near Field Communication), which is not limited in this application.

[0452] The display screen 3305 is used to display a UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 3305 is a touch display screen, the display screen 3305 also has the ability to collect touch signals on or above the surface of the display screen 3305. The touch signals can be input to the processor 3301 as control signals for processing. At this time, the display screen 3305 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, the display screen 3305 can be one, provided on the front panel of the electronic device 3300; in other embodiments, the display screen 3305 can be at least two, respectively provided on different surfaces of the electronic device 3300 or in a folded design; in other embodiments, the display screen 3305 can be a flexible display screen, provided on the curved surface or the folding surface of the electronic device 3300. Even, the display screen 3305 can be set to an irregular non-rectangular shape, that is, a special-shaped screen. The display screen 3305 can be prepared using materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0453] The camera component 3306 is used to capture images or videos. Optionally, the camera component 3306 includes a front camera and a rear camera. Generally, the front camera is disposed on the front panel of the terminal, and the rear camera is disposed on the back of the terminal. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth camera, a wide-angle camera, and a telephoto camera, so as to implement functions such as background blurring by fusing the main camera and the depth camera, panoramic shooting by fusing the main camera and the wide-angle camera, and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera component 3306 may further include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. The dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation under different color temperatures.

[0454] The audio circuit 3307 may include a microphone and a speaker. The microphone is used to collect sound waves of the user and the environment, and convert the sound waves into electrical signals and input them to the processor 3301 for processing, or input them to the radio frequency circuit 3304 to achieve voice communication. For the purpose of stereo collection or noise reduction, there may be multiple microphones, which are respectively disposed at different parts of the electronic device 3300. The microphone can also be an array microphone or an omnidirectional collection microphone. The speaker is used to convert the electrical signal from the processor 3301 or the radio frequency circuit 3304 into sound waves. The speaker can be a traditional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for uses such as ranging. In some embodiments, the audio circuit 3307 may further include a headphone jack.

[0455] The positioning component 3308 is used to locate the current geographical location of the electronic device 3300 to achieve navigation or LBS (Location Based Service). The positioning component 3308 can be a positioning component based on GPS (Global Positioning System), Beidou system or Galileo system.

[0456] The power supply 3309 is used to supply power to each component in the electronic device 3300. The power supply 3309 can be alternating current, direct current, a primary battery or a rechargeable battery. When the power supply 3309 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0457] In some embodiments, the electronic device 3300 further includes one or more sensors 3310. The one or more sensors 3310 include, but are not limited to: an acceleration sensor 3311, a gyroscope sensor 3312, a pressure sensor 3313, an optical sensor 3314, and a proximity sensor 3315.

[0458] The acceleration sensor 3311 can detect the magnitudes of accelerations on the three coordinate axes of the coordinate system established with the electronic device 3300. For example, the acceleration sensor 3311 can be used to detect the components of the gravitational acceleration on the three coordinate axes. The processor 3301 can control the display screen 3305 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 3311. The acceleration sensor 3311 can also be used to collect game or user motion data.

[0459] The gyroscope sensor 3312 can detect the body direction and rotation angle of the electronic device 3300. The gyroscope sensor 3312 can cooperate with the acceleration sensor 3311 to collect the 3D actions of the user on the electronic device 3300. According to the data collected by the gyroscope sensor 3312, the processor 3301 can implement the following functions: motion sensing (such as changing the UI according to the user's tilting operation), image stabilization during shooting, game control, and inertial navigation.

[0460] The pressure sensor 3313 can be disposed on the side frame of the electronic device 3300 and / or the lower layer of the display screen 3305. When the pressure sensor 3313 is disposed on the side frame of the electronic device 3300, it can detect the holding signal of the user on the electronic device 3300, and the processor 3301 can perform left / right hand recognition or quick operation according to the holding signal collected by the pressure sensor 3313. When the pressure sensor 3313 is disposed on the lower layer of the display screen 3305, the processor 3301 can control the operable controls on the UI interface according to the pressure operation of the user on the display screen 3305. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0461] The optical sensor 3314 is used to collect the ambient light intensity. In one embodiment, the processor 3301 can control the display brightness of the display screen 3305 according to the ambient light intensity collected by the optical sensor 3314. Specifically, when the ambient light intensity is high, the display brightness of the display screen 3305 is increased; when the ambient light intensity is low, the display brightness of the display screen 3305 is decreased. In another embodiment, the processor 3301 can also dynamically adjust the shooting parameters of the camera module 3306 according to the ambient light intensity collected by the optical sensor 3314.

[0462] The proximity sensor 3315, also known as the distance sensor, is usually disposed on the front panel of the electronic device 3300. The proximity sensor 3315 is used to collect the distance between the user and the front of the electronic device 3300. In one embodiment, when the proximity sensor 3315 detects that the distance between the user and the front of the electronic device 3300 is gradually decreasing, the processor 3301 controls the display screen 3305 to switch from the lit state to the off state; when the proximity sensor 3315 detects that the distance between the user and the front of the electronic device 3300 is gradually increasing, the processor 3301 controls the display screen 3305 to switch from the off state to the lit state.

[0463] Those skilled in the art can understand that Figure 33 the structure shown in does not constitute a limitation on the electronic device 3300, and may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component layout.

[0464] The embodiment of the present application further provides a computer device, which includes a memory and a processor; at least one program code is stored in the memory, and the program code is loaded and executed by the processor to implement the motion control method of the mobile robot as described above.

[0465] The embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, and the computer program is used to be executed by a processor to implement the motion control method of the mobile robot as described above.

[0466] The embodiment of the present application further provides a chip, which includes a programmable logic circuit and / or program instructions, and is used to implement the motion control method of the mobile robot as described above when the chip runs.

[0467] The embodiment of the present application further provides a computer program product or a computer program, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium, and the processor reads and executes the computer instructions from the computer-readable storage medium to implement the motion control method of the mobile robot as described above.

[0468] In the present application, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features.

[0469] All the above optional technical solutions can be combined arbitrarily to form optional embodiments of the present application, which will not be elaborated herein one by one.

[0470] The above are only alternative embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A motion control method for a mobile robot, characterized in that, The mobile robot includes a first wheel part with telescopic legs, a second wheel part with telescopic legs, and a base part connected to the first wheel part and the second wheel part. The method includes: Controlling the first wheel part and the second wheel part to be in a standing balance state; Controlling the mobile robot to perform biped-like motion based on the standing balance state; Wherein, the base part is parallel to the horizontal reference plane in the standing balance state. During the biped-like motion, the first wheel part and the second wheel part alternately touch the ground, and the base part tilts and sways. The mobile robot also has a controller. In the standing balance state: The angle in the pitch direction of the mobile robot represents the swing amplitude of the mobile robot in the forward direction. The control corresponding to the pitch direction includes: inputting the difference between the reference speed and the moving speed of the wheel center into the controller to output the torque of the wheel motor; The angle in the roll direction of the mobile robot represents the lateral swing amplitude of the mobile robot caused by the inconsistent lengths of the two legs or the inconsistent heights of the two legs. The control corresponding to the roll direction includes: inputting an ideal angle into the controller, and the controller controls the leg lengths of the mobile robot according to the difference between the current angle in the roll direction and the ideal angle, so as to keep the heights of the two legs of the mobile robot supporting the base part consistent.

2. The method according to claim 1, characterized in that, The first wheel part is located in the first direction of the base part, and the second wheel part is located in the second direction of the base part; The control of the mobile robot to perform biped-like motion based on the standing balance state includes: Controlling the mobile robot to change from the standing balance state to a first tilt state, where the first tilt state is a state in which the base part tilts in the first direction; Controlling the mobile robot to recover from the first tilt state to the standing balance state; Controlling the mobile robot to change from the standing balance state to a second tilt state, where the second tilt state is a state in which the base part tilts in the second direction; Controlling the mobile robot to recover from the second tilt state to the standing balance state; Wherein, during the process of the mobile robot recovering from the first tilt state to the standing balance state, the first wheel of the first wheel part touches the ground, and the second wheel of the second wheel part is suspended; during the process of the mobile robot recovering from the second tilt state to the standing balance state, the second wheel touches the ground, and the first wheel is suspended.

3. The method according to claim 2, wherein The control of the mobile robot to change from the standing balance state to the first tilt state includes: Controlling the first leg of the first wheel part to shorten and the second leg of the second wheel part to elongate, so that the under-actuated system machine is in the first tilt state; Wherein, during the telescopic process of the first leg and the second leg, the base part gradually tilts from a horizontal state parallel to the horizontal reference plane to the first direction, and both the first wheel and the second wheel touch the ground.

4. The method according to claim 2, wherein Controlling the mobile robot to recover from the first tilted state to the standing balance state includes: Controlling the first leg of the first wheel part to extend and the second leg of the second wheel part to shorten, so that the mobile robot is in a first single-wheel landing state, where the first single-wheel landing state is a state where the first wheel lands and the second wheel is suspended; Controlling the first leg to continue to extend and the second leg to continue to shorten, so that the under-actuated system machine recovers from the first single-wheel landing state to the standing balance state; Wherein, during the telescoping process of the first leg and the second leg, the base part gradually tilts in the second direction until it returns to a horizontal state parallel to the horizontal reference plane, and the second wheel changes from landing to suspension and then lands again.

5. The method according to claim 4, wherein The lengths of the first leg and the second leg are the same in the standing balance state, and the mobile robot is in the first single-wheel landing state within a first time period, where: During the first time period, the length of the first leg is shorter than the length of the second leg; At the termination node of the first time period, the first leg and the second leg are of equal length.

6. The method according to claim 2, wherein Controlling the mobile robot to change from the standing balance state to a second tilted state includes: Controlling the first leg of the first wheel part to extend and the second leg of the second wheel part to shorten, so that the under-actuated system machine is in the second tilted state; Wherein, during the telescoping process of the first leg and the second leg, the base part gradually tilts from a horizontal state parallel to the horizontal reference plane in the second direction, and both the first wheel and the second wheel land.

7. The method according to claim 2, wherein Controlling the mobile robot to recover from the second tilted state to the standing balance state includes: Controlling the first leg of the first wheel part to shorten and the second leg of the second wheel part to extend, so that the mobile robot is in a second single-wheel landing state, where the second single-wheel landing state is a state where the first wheel is suspended and the second wheel lands; Controlling the first leg to continue to shorten and the second leg to continue to extend, so that the under-actuated system machine recovers from the second single-wheel landing state to the standing balance state; Wherein, during the telescoping process of the first leg and the second leg, the base part gradually tilts in the first direction until it returns to a horizontal state parallel to the horizontal reference plane, and the first wheel changes from landing to suspension and then lands again.

8. The method according to claim 7, wherein The lengths of the first leg and the second leg are the same in the standing balance state, and the mobile robot is in the second single-wheel landing state within a second time period, where: During the second time period, the length of the first leg is longer than the length of the second leg; At the termination node of the second time period, the first leg and the second leg are of equal length.

9. The method according to claim 2, wherein Controlling the mobile robot to change from the standing balance state to a first tilted state includes: When the tilt angle of the mobile robot reaches the first limit, control the mobile robot to change from the standing balance state to the first tilted state; Wherein, the tilt angle of the mobile robot is used to indicate the included angle between the plane where the base portion is located and the plane parallel to the horizontal reference plane.

10. The method according to claim 2, wherein The control of the mobile robot to recover from the first tilted state to the standing balance state includes: When the tilt angle of the mobile robot reaches the second limit, control the mobile robot to recover from the first tilted state to the standing balance state; Wherein, the tilt angle of the mobile robot is used to indicate the included angle between the plane where the base portion is located and the plane parallel to the horizontal reference plane.

11. The method according to claim 2, wherein The control of the mobile robot to change from the standing balance state to the second tilted state includes: When the tilt angle of the mobile robot reaches the third limit, control the mobile robot to change from the standing balance state to the second tilted state; Wherein, the tilt angle of the mobile robot is used to indicate the included angle between the plane where the base portion is located and the plane parallel to the horizontal reference plane.

12. The method according to claim 2, wherein The control of the mobile robot to recover from the second tilted state to the standing balance state includes: When the tilt angle of the mobile robot reaches the fourth limit, control the mobile robot to recover from the second tilted state to the standing balance state; Wherein, the tilt angle of the mobile robot is used to indicate the included angle between the plane where the base portion is located and the plane parallel to the horizontal reference plane.

13. The method according to any one of claims 1 to 12, characterized in that, The biped-like motion includes at least one of the following motions: In-place stepping motion; Linear motion; Curvilinear motion; In-place circular stepping motion; Obstacle-crossing motion.

14. The method according to claim 13, characterized in that, The biped-like motion includes the in-place stepping motion; During the in-place stepping motion, the landing positions of the first wheel part and the second wheel part after being suspended are the same as the initial landing positions, or the distance difference is less than the first tolerance value.

15. The method according to claim 13, wherein The biped-like motion includes at least one of the linear motion, the curvilinear motion, the in-place circular stepping motion, and the obstacle-crossing motion; During the linear motion, or the curvilinear motion, or the in-place circular stepping motion, or the obstacle-crossing motion, the landing positions of the first wheel part or the second wheel part after being suspended are different from the landing positions before suspension, and the distance difference is not less than the second tolerance value; The base portion tilts and sways alternately in the third direction and the fourth direction, and the included angle between the third direction or the fourth direction and the forward direction of the mobile robot is an acute angle.

16. The method according to any one of claims 1 to 12, wherein During the biped-like motion, the first wheel of the first wheel part and the second wheel of the second wheel part are in a locked state.

17. The method according to any one of claims 1 to 12, wherein During the biped-like motion, the first wheel of the first wheel part and / or the second wheel of the second wheel part are in an unlocked state.

18. The method according to claim 17, wherein The method further includes: During the biped-like movement, control the first wheel part and / or the second wheel part in the unlocked state to move.

19. The method according to any one of claims 1 to 12, characterized in that During the biped-like movement, the movements of the first wheel part, the second wheel part, and the base part are controlled according to at least one of the following information: The length change of the first leg of the first wheel part; The angle and change amount of at least one joint motor of the first leg; The length change of the second leg of the second wheel part; The angle and change amount of at least one joint motor of the second leg; The contact force between the first wheel of the first wheel part and the ground; The contact force between the second wheel of the second wheel part and the ground; The pitch angle information and angular velocity of the mobile robot; The roll angle information and angular velocity of the mobile robot; The yaw angle information and angular velocity of the mobile robot.

20. The method according to any one of claims 1 to 12, characterized in that When both the first wheel part and the second wheel part are on the ground, the sum of the motor torques of the first drive motor corresponding to the first wheel part and the second drive motor corresponding to the second wheel part is the first torque; When the first wheel part is on the ground and the second wheel part is suspended, the motor torque of the first drive motor is the first torque; When the second wheel part is on the ground and the first wheel part is suspended, the motor torque of the second drive motor is the first torque.

21. A mobile robot, characterized in that, The mobile robot includes a first wheel part with telescopic legs, a second wheel part with telescopic legs, and a base part connected to the first wheel part and the second wheel part; A controller is provided in the mobile robot, and the controller is used to control the mobile robot to implement the movement control method of the mobile robot according to any one of claims 1 to 20.

22. A motion control device for a mobile robot, characterized in that, The device includes: A control module for controlling the first wheel part with telescopic legs and the second wheel part with telescopic legs included in the mobile robot to be in a standing balance state; The control module is further used to control the mobile robot to perform biped-like movement based on the standing balance state; Wherein, the base part of the mobile robot is parallel to the horizontal reference plane in the standing balance state. During the biped-like movement, the first wheel part and the second wheel part alternately touch the ground, and the base part tilts and sways; in the standing balance state: The angle in the pitch angle direction of the mobile robot represents the swing amplitude of the mobile robot in the forward direction, and the control corresponding to the pitch angle direction includes: inputting the difference between the reference speed and the moving speed of the wheel center into the control module to output the torque of the wheel motor; The angle in the roll angle direction of the mobile robot represents the lateral swing amplitude caused by inconsistent leg lengths or inconsistent heights of the two legs of the mobile robot. The control corresponding to the roll angle direction includes: inputting an ideal angle to the control module, and the control module controls the leg lengths of the mobile robot according to the difference between the current angle in the roll angle direction and the ideal angle, so as to keep the heights reached by the two legs of the mobile robot supporting the base part consistent.

23. A computer device, characterized in that, The computer device includes a memory and a processor; At least one program code is stored in the memory, and the program code 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 20.

24. A computer-readable storage medium, characterized in that, A computer program is stored in the storage medium, and the computer program 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 20.

25. A chip, characterized in that, The chip includes a programmable logic circuit and / or program instructions, and is used to implement the motion control method of the mobile robot according to any one of claims 1 to 20 when the electronic device installed with the chip runs.

Images