A method, apparatus and device for switching a motion mode of a robot

Abstract

This invention discloses a method, apparatus, and medium for switching motion modes of a robot. The method includes acquiring a motion control model of the robot, which includes multiple oscillators. Different motion modes are associated with different oscillators and their parameters within the motion control model. When a mode switching signal is received, the target motion mode is determined. Based on the target motion mode, the oscillators associated with the target motion mode and their control matrix are determined, with the control matrix used to configure the parameters of the oscillators. The oscillators associated with the target motion mode are coupled, and their parameters are configured based on the control matrix to update the motion control model. The robot is then controlled to move in the target motion mode based on the updated motion control model. This improves the efficiency and accuracy of motion mode switching for the robot.

Description

Technical Field

[0001] This invention relates to the field of artificial intelligence technology, and specifically to a method, apparatus, and device for switching motion modes of a robot. Background Technology

[0002] With the continuous improvement of modern production levels, robots have become widely used as important practical tools to help humans complete a variety of complex and difficult tasks, especially in complex environmental conditions. When the work content poses a threat to human life and safety, robots can replace humans to complete the corresponding tasks. Based on actual needs, various types of robots have emerged, such as aerial robots, underwater robots, and ground-mobile robots.

[0003] As a type of amphibious robot, the amphibious robot possesses both ground and air mobility capabilities. Compared to traditional single-mode robots, the amphibious robot combines both ground and air movement modes, enabling it to achieve rapid movement and obstacle-crossing capabilities similar to rotorcraft robots. The ground movement mode effectively avoids the excessive energy consumption problem of rotorcraft robots, thus improving sustained mobility. Building upon the basic mobility capabilities of amphibious robots, researching their ability to autonomously switch working modes under various environmental and structural conditions is essential to enabling them to adapt to complex environments and achieve autonomous control. Summary of the Invention

[0004] The main technical problem solved by this invention is to improve the efficiency and accuracy of robot switching when switching motion modes.

[0005] According to a first aspect, one embodiment provides a method for switching motion modes of a robot, the robot having multiple motion modes, the motion mode switching method comprising:

[0006] Obtain a motion control model for the robot, the motion control model including multiple oscillators, and different motion modes are associated with different oscillators and oscillator parameters in the motion control model;

[0007] When a mode switching signal is received, the target motion mode to be switched to is determined;

[0008] Based on the target motion pattern, the oscillator associated with the target motion pattern and its control matrix are determined, and the control matrix is ​​used to configure the parameters of the oscillator;

[0009] The motion control model is updated by coupling the oscillator associated with the target motion mode and configuring the parameters of the oscillator associated with the target motion mode based on the control matrix.

[0010] The robot is controlled to move in the target motion mode based on the updated motion control model.

[0011] In one embodiment, the oscillator includes:

[0012]

[0013]

[0014]

[0015] in, Indicates an oscillator, f H (s i ) represents the dynamic characteristics of the oscillator, s i The base oscillator is represented by k, the weighting factor is represented by n, and the number of motion modes is represented by δ. i T represents the coupling weight. i The value represents the stability of the oscillator, the superscript T indicates the transpose of the matrix, α represents the convergence factor, and A... i w represents the amplitude of the i-th motion mode. i Let x represent the frequency of the i-th mode. i and y i Let b represent the state variable of the i-th mode. i This represents the displacement from the equilibrium position. Indicates the phase of the oscillator. It is a two-dimensional rotation transformation matrix of the oscillator phase, r i This represents the ratio of the state vectors.

[0016] In one embodiment, before receiving the mode switching signal, the method further includes:

[0017] The initial handover signal is acquired, and the mode control signal is obtained from the initial handover signal using a blind source separation algorithm;

[0018] The mode control signal is amplified according to a preset signal amplification formula, and the amplified signal is used as the mode switching signal.

[0019] In one embodiment, the control matrix includes a coupling weight matrix and a phase matrix; the coupling weight matrix is ​​established based on the amplitude, frequency, and state variables in the oscillator, as well as the weighting factor, convergence factor, and coupling weight in the oscillator; the phase matrix is ​​the phase of the oscillator.

[0020] In one embodiment, determining the oscillator and its control matrix associated with the target motion pattern based on the target motion pattern includes:

[0021] Obtain the number of oscillators and / or oscillators corresponding to the target motion pattern;

[0022] Construct the corresponding control matrix based on the parameters in the oscillator corresponding to the target motion mode.

[0023] In one embodiment, establishing coupling between the oscillators associated with the target motion pattern includes:

[0024] Obtain the target shape network corresponding to the target motion pattern, and couple the oscillator associated with the target motion pattern into the target shape network.

[0025] In one embodiment, the mode switching signal includes a signal emitted by a remote control device or a signal emitted after being judged based on external factors; wherein, the external factors include the height measured by the robot's rangefinder sensor.

[0026] According to a second aspect, one embodiment provides a motion mode switching device for a robot, comprising:

[0027] The model acquisition module is used to acquire the motion control model of the robot. The motion control model includes multiple oscillators. Different motion modes are associated with different oscillators and oscillator parameters in the motion control model.

[0028] The model update module is used to determine the target motion mode to be switched when a mode switching signal is received, and based on the target motion mode, determine the oscillator associated with the target motion mode and its control matrix. The control matrix is ​​used to configure the parameters of the oscillator, establish coupling between the oscillator associated with the target motion mode and configure the parameters of the oscillator associated with the target motion mode based on the control matrix, so as to update the motion control model.

[0029] A robot motion module is used to control the robot to move in the target motion mode based on the updated motion control model.

[0030] According to a third aspect, embodiments of the present invention provide an apparatus comprising:

[0031] Memory, used to store programs;

[0032] A processor for implementing the motion mode switching method for a robot as described in any of the preceding claims by executing a program stored in the memory.

[0033] The robot motion mode switching method, apparatus, and device according to the above embodiments include acquiring a robot motion control model comprising multiple oscillators. Since different motion modes are associated with different oscillators and their parameters in the motion control model, motion control models corresponding to different motion modes can be constructed, enabling flexible configuration of the robot motion control model. When a mode switching signal is received, the target motion mode is determined. Based on the target motion mode, the oscillators associated with the target motion mode and their control matrix are determined. The oscillators associated with the target motion mode are coupled, and the parameters of the oscillators associated with the target motion mode are configured based on the control matrix to update the motion control model. Switching is achieved by determining the control matrix, which improves the efficiency of mode switching. Furthermore, switching is achieved through the control matrix and oscillators, requiring fewer parameters and thus resulting in better accuracy. The updated motion control model is used to control the robot to move in the target motion mode. This improves the efficiency and accuracy of the robot during motion mode switching. Attached Figure Description

[0034] Figure 1 This is a flowchart illustrating the motion mode switching process of the robot according to an embodiment of this application.

[0035] Figure 2 A schematic diagram illustrating the motion mode switching process of a robot according to one embodiment;

[0036] Figure 3 A schematic diagram illustrating the motion mode switching process of a robot according to another embodiment;

[0037] Figure 4 This is a structural block diagram of the motion mode switching device for a robot according to an embodiment of this application. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of this application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to this application are not shown or described in the specification. This is to avoid obscuring the core parts of this application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0039] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0040] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0041] The robot motion mode switching method, apparatus, and device according to the above embodiments include acquiring a robot motion control model comprising multiple oscillators. Since different motion modes are associated with different oscillators and their parameters in the motion control model, motion control models corresponding to different motion modes can be constructed, enabling flexible configuration of the robot motion control model. When a mode switching signal is received, the target motion mode is determined. Based on the target motion mode, the oscillators associated with the target motion mode and their control matrix are determined. The oscillators associated with the target motion mode are coupled, and the parameters of the oscillators associated with the target motion mode are configured based on the control matrix to update the motion control model. Switching is achieved by determining the control matrix, which improves the efficiency of mode switching. Furthermore, switching is achieved through the control matrix and oscillators, requiring fewer parameters and thus resulting in better accuracy. The updated motion control model is used to control the robot to move in the target motion mode. This improves the efficiency and accuracy of the robot during motion mode switching.

[0042] Please refer to Figure 1 Some embodiments of the present invention provide a method for switching motion modes of a robot, including steps S10 to S50, which are described in detail below.

[0043] Step S10: Obtain the motion control model of the robot. The motion control model includes multiple oscillators. Different motion modes are associated with different oscillators and oscillator parameters in the motion control model.

[0044] In some embodiments, the motion control model includes multiple oscillators, which include:

[0045]

[0046]

[0047]

[0048] in, Indicates an oscillator, f H (s i ) represents the dynamic characteristics of the oscillator, s i The base oscillator is represented by k, the weighting factor is represented by n, and the number of motion modes is represented by δ. i T represents the coupling weight. i The value represents the stability of the oscillator, the superscript T indicates the transpose of the matrix, α represents the convergence factor, and A... i w represents the amplitude of the i-th motion mode. i Let x represent the frequency of the i-th mode. i and y i Let b represent the state variable of the i-th mode. i This represents the displacement from the equilibrium position. Indicates the phase of the oscillator. It is a two-dimensional rotation transformation matrix of the oscillator phase, r i This represents the ratio of the state vectors.

[0049] In some embodiments, the coupling weight δ i This determines the coupling strength between multiple oscillators.

[0050] In some embodiments, the oscillator included in the motion control model, compared to the oscillator in the Central Pattern Generator (CPG) model commonly used in practical engineering, can output a sinusoidal signal. Furthermore, each parameter in this oscillator is independent, has a clear physical meaning, and is easy to adjust subsequently, making it suitable for motion control and mode switching of the robot. In contrast, while the oscillator in the Central Pattern Generator (CPG) model possesses good biological and nonlinear characteristics, it suffers from drawbacks such as numerous parameters, complex structure, and difficulty in adjustment. It also exhibits asymmetry within half a cycle, making it unsuitable as a robot controller.

[0051] In some embodiments, the number of motion modes n is 6, including motion modes such as rotor vertical take-off and landing, rotor aerial cruise, ground rolling motion, ground gait motion, ground tumbling motion, and ground squatting motion.

[0052] In some embodiments, different motion modes are associated with different oscillators and oscillator parameters in the motion control model. The different associated oscillators can refer to oscillators with different parameters or to different numbers of associated oscillators.

[0053] Step S20: When a mode switching signal is received, determine the target motion mode to be switched.

[0054] In some embodiments, the mode switching signal includes a signal emitted by a remote control device or a signal emitted after being determined based on external factors; wherein, the external factors include the height measured by the robot's rangefinder sensor. For example, if the robot's current height is measured as h by the robot's rangefinder sensor, and the current height h reaches a critical value h1, then it is necessary to determine the target motion mode to switch to.

[0055] In some embodiments, it is necessary to determine that the target motion mode to be switched is any one of the following motion modes: rotor vertical take-off and landing, rotor aerial cruise, ground rolling motion, ground gait motion, ground tumbling motion, and ground squatting motion.

[0056] See Figure 2 In some embodiments, steps S21 to S22 are included before the mode switching signal is received, which will be described in detail below.

[0057] Step S21: Obtain the initial handover signal and use the blind source separation algorithm to separate the mode control signal from the initial handover signal.

[0058] In some embodiments, since the initial switching signal may contain many different signals that affect the control signal, it is necessary to use a blind source separation algorithm to separate the mode control signal from it.

[0059] Step S22: Amplify the mode control signal according to the preset signal amplification formula, and use the amplified signal as the mode switching signal.

[0060] In some embodiments, the preset signal amplification formula includes:

[0061]

[0062] in, and This indicates the mode switching signal, λ represents the amplification ratio, h represents the robot's current height measured by the robot's rangefinder sensor, h1 represents the preset threshold value, and x represents the mode switching signal. i and y i Indicates mode control signal.

[0063] Step S30: Based on the target motion pattern, determine the oscillator associated with the target motion pattern and its control matrix. The control matrix is ​​used to configure the parameters of the oscillator.

[0064] In some embodiments, the control matrix includes a coupling weight matrix W and a phase matrix E, wherein the coupling weight matrix W is based on the amplitude A in the oscillator. i Frequency wi State variable x i and y i And the weighting factor k, convergence factor α, and coupling weight δ in the oscillator. i The amplitude A in the oscillator is directly obtained. i Frequency w i State variable x i and y i And the weighting factor k, convergence factor α, and coupling weight δ in the oscillator. i The column vectors form the coupling weight matrix W, while the phase matrix E directly represents the phase of the oscillator. As a column vector.

[0065] refer to Figure 3 In some embodiments, based on the target motion pattern, the oscillator and its control matrix associated with the target motion pattern are determined, including steps S31 to S32, which are described in detail below.

[0066] Step S31: Obtain the oscillator and / or the number of oscillators corresponding to the target motion mode.

[0067] In some embodiments, the type and number of oscillators are different for different motion modes. For example, three oscillators are required in rotor vertical take-off flight mode, four oscillators are required in fixed-wing aerial flight mode, and five oscillators are required in ground rolling motion mode.

[0068] Step S32: Construct the corresponding control matrix based on the parameters in the oscillator corresponding to the target motion mode.

[0069] In some embodiments, the coupling weight matrix W and phase matrix E contained in the control matrix are generated from the parameters in the oscillator, so the corresponding control matrix can be constructed according to the parameters in the oscillator corresponding to the target motion mode.

[0070] Step S40: Couple the oscillator associated with the target motion mode and configure the parameters of the oscillator associated with the target motion mode based on the control matrix to update the motion control model.

[0071] In some embodiments, coupling is established between the oscillators associated with the target motion pattern, including:

[0072] Obtain the target shape network corresponding to the target motion pattern, and couple the oscillator associated with the target motion pattern into the target shape network.

[0073] In some embodiments, the target shape network corresponding to the target motion mode is set according to the number of oscillators in the target motion mode. For example, when the target motion mode is rotor vertical take-off flight, three oscillators need to be coupled into a triangular network to control the motor's motion; when the target motion mode is fixed-wing aerial flight, four oscillators need to be coupled into a quadrilateral network to control the rotation of the fixed-wing motor; when the target motion mode is ground rolling motion, five oscillators need to be coupled into a pentagonal network to control the rotation of the leg motor.

[0074] In some embodiments, the motion control model is updated by coupling the oscillators associated with the target motion mode and configuring the parameters of the oscillators associated with the target motion mode. By adjusting the coupling relationship between the oscillators, a motion control model that can freely switch between polygonal configurations can be obtained, thereby achieving control of the robot's motion mode. Furthermore, by seamlessly switching the coupling weight matrix W and the phase matrix E in the control matrix, the robot's motion mode switching can be achieved, greatly improving the efficiency of mode switching. Mode switching is achieved through only two parameters, resulting in fewer parameters and better switching accuracy.

[0075] Step S50: Control the robot to move in the target motion mode based on the updated motion control model.

[0076] In some embodiments, the rotor vertical take-off and landing (VTOL) motion mode and the rotor aerial cruise motion mode are used as examples; the switching methods for other modes are similar. The robot's VTOL motion mode is controlled by a fully symmetrical triangular network, while the rotor aerial cruise motion mode is controlled by a fully symmetrical quadrilateral network. Therefore, the key to switching motion modes is how to freely reconfigure the network between the fully symmetrical quadrilateral and fully symmetrical triangular configurations. The updated motion control model is achieved by establishing or breaking the coupling relationship between oscillators. Therefore, by establishing coupling between the oscillators associated with the target motion mode and configuring the parameters of the oscillators associated with the target motion mode based on the control matrix to update the motion control model, the switching between the rotor VTOL motion mode and the rotor aerial cruise motion mode can be realized. Furthermore, the robot can be controlled to move in the target motion mode based on the updated motion control model.

[0077] In some embodiments, the parameters of the oscillator associated with the target motion mode are configured based on the control matrix to update the motion control model; therefore, the control matrix in the motion control model is also transformed. Specifically, this can be represented as follows: FW represents fixed-wing aerial flight mode, and MC represents rotor vertical take-off flight mode.

[0078] The robot motion mode switching method, apparatus, and device according to the above embodiments include acquiring a robot motion control model comprising multiple oscillators. Since different motion modes are associated with different oscillators and their parameters in the motion control model, motion control models corresponding to different motion modes can be constructed, enabling flexible configuration of the robot motion control model. When a mode switching signal is received, the target motion mode is determined. Based on the target motion mode, the oscillators associated with the target motion mode and their control matrix are determined. The oscillators associated with the target motion mode are coupled, and the parameters of the oscillators associated with the target motion mode are configured based on the control matrix to update the motion control model. Switching is achieved by determining the control matrix, which improves the efficiency of mode switching. Furthermore, switching is achieved through the control matrix and oscillators, requiring fewer parameters and thus resulting in better accuracy. The updated motion control model is used to control the robot to move in the target motion mode. This improves the efficiency and accuracy of the robot during motion mode switching.

[0079] refer to Figure 4 Some embodiments provide a robot motion mode switching device, including a model acquisition module 10, a model update module 20, and a robot motion module 30, which are described in detail below.

[0080] The model acquisition module 10 is used to acquire the motion control model of the robot. The motion control model includes multiple oscillators. Different motion modes are associated with different oscillators and oscillator parameters in the motion control model.

[0081] In some embodiments, the motion control model includes multiple oscillators, which include:

[0082]

[0083]

[0084]

[0085] in, Indicates an oscillator, f H (s i ) represents the dynamic characteristics of the oscillator, s i The base oscillator is represented by k, the weighting factor is represented by n, and the number of motion modes is represented by δ. i T represents the coupling weight. i The value represents the stability of the oscillator, the superscript T indicates the transpose of the matrix, α represents the convergence factor, and A... i w represents the amplitude of the i-th motion mode. i Let x represent the frequency of the i-th mode. i and y iLet b represent the state variable of the i-th mode. i This represents the displacement from the equilibrium position. Indicates the phase of the oscillator. It is a two-dimensional rotation transformation matrix of the oscillator phase, r i This represents the ratio of the state vectors.

[0086] In some embodiments, the coupling weight δ i This determines the coupling strength between multiple oscillators.

[0087] In some embodiments, the oscillator included in the motion control model, compared to the oscillator in the Central Pattern Generator (CPG) model commonly used in practical engineering, can output a sinusoidal signal. Furthermore, each parameter in this oscillator is independent, has a clear physical meaning, and is easy to adjust subsequently, making it suitable for motion control and mode switching of the robot. In contrast, while the oscillator in the Central Pattern Generator (CPG) model possesses good biological and nonlinear characteristics, it suffers from drawbacks such as numerous parameters, complex structure, and difficulty in adjustment. It also exhibits asymmetry within half a cycle, making it unsuitable as a robot controller.

[0088] In some embodiments, the number of motion modes n is 6, including motion modes such as rotor vertical take-off and landing, rotor aerial cruise, ground rolling motion, ground gait motion, ground tumbling motion, and ground squatting motion.

[0089] In some embodiments, different motion modes are associated with different oscillators and oscillator parameters in the motion control model. The different associated oscillators can refer to oscillators with different parameters or to different numbers of associated oscillators.

[0090] The model update module 20 is used to determine the target motion mode to be switched when a mode switching signal is received.

[0091] In some embodiments, the mode switching signal includes a signal emitted by a remote control device or a signal emitted after being determined based on external factors; wherein, the external factors include the height measured by the robot's rangefinder sensor. For example, if the robot's current height is measured as h by the robot's rangefinder sensor, and the current height h reaches a critical value h1, then it is necessary to determine the target motion mode to switch to.

[0092] In some embodiments, it is necessary to determine that the target motion mode to be switched is any one of the following motion modes: rotor vertical take-off and landing, rotor aerial cruise, ground rolling motion, ground gait motion, ground tumbling motion, and ground squatting motion.

[0093] Please return to the previous page. Figure 2 In some embodiments, the model update module 20 may also perform the following actions before receiving the mode switching signal, which are described in detail below.

[0094] The model update module 20 acquires the initial switching signal, uses a blind source separation algorithm to separate the mode control signal from the initial switching signal, amplifies the mode control signal according to a preset signal amplification formula, and uses the amplified signal as the mode switching signal.

[0095] In some embodiments, since the initial switching signal may contain many different signals that affect the control signal, it is necessary to use a blind source separation algorithm to separate the mode control signal from it.

[0096] In some embodiments, the preset signal amplification formula includes:

[0097]

[0098] in, and This indicates the mode switching signal, λ represents the amplification ratio, h represents the robot's current height measured by the robot's rangefinder sensor, h1 represents the preset threshold value, and x represents the mode switching signal. i and y i Indicates mode control signal.

[0099] The model update module 20 is used to determine the oscillator and its control matrix associated with the target motion pattern based on the target motion pattern. The control matrix is ​​used to configure the parameters of the oscillator.

[0100] In some embodiments, the control matrix includes a coupling weight matrix W and a phase matrix E, wherein the coupling weight matrix W is based on the amplitude A in the oscillator. i Frequency w i State variable x i and y i And the weighting factor k, convergence factor α, and coupling weight δ in the oscillator. i The amplitude A in the oscillator is directly obtained. i Frequency w i State variable x i and y i And the weighting factor k, convergence factor α, and coupling weight δ in the oscillator. i The column vectors form the coupling weight matrix W, while the phase matrix E directly represents the phase of the oscillator. As a column vector.

[0101] Please return to the reference. Figure 3In some embodiments, the model update module 20 determines the oscillator and its control matrix associated with the target motion pattern based on the target motion pattern, and can perform the following actions, which are described in detail below.

[0102] The model update module 20 obtains the oscillator and / or the number of oscillators corresponding to the target motion mode, and constructs the corresponding control matrix based on the parameters in the oscillator corresponding to the target motion mode.

[0103] In some embodiments, the type and number of oscillators are different for different motion modes. For example, three oscillators are required in rotor vertical take-off flight mode, four oscillators are required in fixed-wing aerial flight mode, and five oscillators are required in ground rolling motion mode.

[0104] In some embodiments, the coupling weight matrix W and phase matrix E contained in the control matrix are generated from the parameters in the oscillator, so the corresponding control matrix can be constructed according to the parameters in the oscillator corresponding to the target motion mode.

[0105] The model update module 20 is used to couple the oscillators associated with the target motion mode and configure the parameters of the oscillators associated with the target motion mode based on the control matrix in order to update the motion control model.

[0106] In some embodiments, the model update module 20 establishes coupling between the oscillator associated with the target motion pattern, including:

[0107] Obtain the target shape network corresponding to the target motion pattern, and couple the oscillator associated with the target motion pattern into the target shape network.

[0108] In some embodiments, the target shape network corresponding to the target motion mode is set according to the number of oscillators in the target motion mode. For example, when the target motion mode is rotor vertical take-off flight, three oscillators need to be coupled into a triangular network to control the motor's motion; when the target motion mode is fixed-wing aerial flight, four oscillators need to be coupled into a quadrilateral network to control the rotation of the fixed-wing motor; when the target motion mode is ground rolling motion, five oscillators need to be coupled into a pentagonal network to control the rotation of the leg motor.

[0109] In some embodiments, the motion control model is updated by coupling the oscillators associated with the target motion mode and configuring the parameters of the oscillators associated with the target motion mode. By adjusting the coupling relationship between the oscillators, a motion control model that can freely switch between polygonal configurations can be obtained, thereby achieving control of the robot's motion mode. Furthermore, by seamlessly switching the coupling weight matrix W and the phase matrix E in the control matrix, the robot's motion mode switching can be achieved, greatly improving the efficiency of mode switching. Mode switching is achieved through only two parameters, resulting in fewer parameters and better switching accuracy.

[0110] The robot motion module 30 is used to control the robot to move in a target motion mode based on the updated motion control model.

[0111] In some embodiments, the rotor vertical take-off and landing (VTOL) motion mode and the rotor aerial cruise motion mode are used as examples; the switching methods for other modes are similar. The robot's VTOL motion mode is controlled by a fully symmetrical triangular network, while the rotor aerial cruise motion mode is controlled by a fully symmetrical quadrilateral network. Therefore, the key to switching motion modes is how to freely reconfigure the network between the fully symmetrical quadrilateral and fully symmetrical triangular configurations. The updated motion control model is achieved by establishing or breaking the coupling relationship between oscillators. Therefore, by establishing coupling between the oscillators associated with the target motion mode and configuring the parameters of the oscillators associated with the target motion mode based on the control matrix to update the motion control model, the switching between the rotor VTOL motion mode and the rotor aerial cruise motion mode can be realized. Furthermore, the robot can be controlled to move in the target motion mode based on the updated motion control model.

[0112] In some embodiments, the parameters of the oscillator associated with the target motion mode are configured based on the control matrix to update the motion control model; therefore, the control matrix in the motion control model is also transformed. Specifically, this can be represented as follows: FW represents fixed-wing aerial flight mode, and MC represents rotor vertical take-off flight mode.

[0113] The robot motion mode switching method, apparatus, and device according to the above embodiments include acquiring a robot motion control model comprising multiple oscillators. Since different motion modes are associated with different oscillators and their parameters in the motion control model, motion control models corresponding to different motion modes can be constructed, enabling flexible configuration of the robot motion control model. When a mode switching signal is received, the target motion mode is determined. Based on the target motion mode, the oscillators associated with the target motion mode and their control matrix are determined. The oscillators associated with the target motion mode are coupled, and the parameters of the oscillators associated with the target motion mode are configured based on the control matrix to update the motion control model. Switching is achieved by determining the control matrix, which improves the efficiency of mode switching. Furthermore, switching is achieved through the control matrix and oscillators, requiring fewer parameters and thus resulting in better accuracy. The updated motion control model is used to control the robot to move in the target motion mode. This improves the efficiency and accuracy of the robot during motion mode switching.

[0114] Those skilled in the art will understand that all or part of the functions of the various methods in the above embodiments can be implemented by hardware or by computer programs. When all or part of the functions in the above embodiments are implemented by computer programs, the program can be stored in a computer-readable storage medium, which may include: read-only memory, random access memory, disk, optical disk, hard disk, etc., and the program is executed by a computer to achieve the above functions. For example, the program can be stored in the memory of a device, and when the program in the memory is executed by the processor, all or part of the above functions can be achieved. In addition, when all or part of the functions in the above embodiments are implemented by computer programs, the program can also be stored in a server, another computer, disk, optical disk, flash drive, or external hard drive, etc., and can be downloaded or copied to the memory of a local device, or the system of the local device can be updated. When the program in the memory is executed by the processor, all or part of the functions in the above embodiments can be achieved.

[0115] The above examples illustrate the present invention only to aid in understanding it and are not intended to limit the scope of the invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the principles of this invention.

Claims

1. A motion mode switching method of a robot having a plurality of motion modes, characterized by, The motion mode switching method includes: A motion control model for the robot is obtained. This motion control model includes multiple oscillators. Different motion modes are associated with different oscillators and their parameters within the motion control model. The oscillators include: in, Indicates an oscillator. This indicates the dynamic characteristics of the oscillator. Indicates the basic oscillator. Indicates the weighting factor. Indicates the number of motion patterns. Indicates coupling weights, Indicates the stability of the oscillator, superscript Represents the transpose of a matrix. Indicates the convergence factor. Indicates the first The amplitude of each motion pattern Indicates the first The frequency of each pattern, and Indicates the first The state variables of each pattern This represents the displacement from the equilibrium position. Indicates the phase of the oscillator. It is a two-dimensional rotational transformation matrix of the oscillator phase. Represents the ratio of state vectors; When a mode switching signal is received, the target motion mode to be switched to is determined; Based on the target motion pattern, the oscillator associated with the target motion pattern and its control matrix are determined, and the control matrix is ​​used to configure the parameters of the oscillator; The motion control model is updated by coupling the oscillator associated with the target motion mode and configuring the parameters of the oscillator associated with the target motion mode based on the control matrix. The robot is controlled to move in the target motion mode based on the updated motion control model.

2. The method as described in claim 1, characterized in that, Before receiving the mode switching signal, the process also includes: The initial handover signal is acquired, and the mode control signal is obtained from the initial handover signal using a blind source separation algorithm; The mode control signal is amplified according to a preset signal amplification formula, and the amplified signal is used as the mode switching signal.

3. The method as described in claim 1, characterized in that, The control matrix includes a coupling weight matrix and a phase matrix; the coupling weight matrix is ​​established based on the amplitude, frequency, and state variables in the oscillator, as well as the weighting factor, convergence factor, and coupling weight in the oscillator; the phase matrix is ​​the phase of the oscillator.

4. The method as described in claim 1, characterized in that, The step of determining the oscillator and its control matrix associated with the target motion pattern based on the target motion pattern includes: Obtain the number of oscillators and / or oscillators corresponding to the target motion pattern; Construct the corresponding control matrix based on the parameters in the oscillator corresponding to the target motion mode.

5. The method as described in claim 1, characterized in that, The process of establishing coupling between the oscillators associated with the target motion pattern includes: Obtain the target shape network corresponding to the target motion pattern, and couple the oscillator associated with the target motion pattern into the target shape network.

6. The method as described in claim 1, characterized in that, The mode switching signal includes a signal emitted by a remote control device or a signal emitted after judgment based on external factors; wherein, the external factors include the height measured by the robot's rangefinder sensor.

7. A motion mode switching device for a robot, characterized in that, include: A model acquisition module is used to acquire the robot's motion control model. The motion control model includes multiple oscillators. Different motion modes are associated with different oscillators and their parameters within the motion control model. The oscillators include: in, Indicates an oscillator. This indicates the dynamic characteristics of the oscillator. Indicates the basic oscillator. Indicates the weighting factor. Indicates the number of motion patterns. Indicates coupling weights, Indicates the stability of the oscillator, superscript Represents the transpose of a matrix. Indicates the convergence factor. Indicates the first The amplitude of each motion pattern Indicates the first The frequency of each pattern, and Indicates the first The state variables of each pattern This represents the displacement from the equilibrium position. Indicates the phase of the oscillator. It is a two-dimensional rotational transformation matrix of the oscillator phase. Represents the ratio of state vectors; The model update module is used to determine the target motion mode to be switched when a mode switching signal is received, and based on the target motion mode, determine the oscillator associated with the target motion mode and its control matrix. The control matrix is ​​used to configure the parameters of the oscillator, establish coupling between the oscillator associated with the target motion mode and configure the parameters of the oscillator associated with the target motion mode based on the control matrix, so as to update the motion control model. A robot motion module is used to control the robot to move in the target motion mode based on the updated motion control model.

8. A motion mode switching device for a robot, characterized in that, include: Memory, used to store programs; A processor for implementing the method as described in any one of claims 1-6 by executing a program stored in the memory.

9. A computer-readable storage medium, characterized in that, The medium stores a program that can be executed by a processor to implement the method as described in any one of claims 1-6.

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