A robot intelligence control system

Abstract

This invention discloses a robot intelligent control system, relating to the field of robotics, including a memory internally storing pressure thresholds, height thresholds, and height difference thresholds; a data acquisition device; a prediction device including a pressure analysis module; a height analysis module that compares the collected n leg heights, sorts them by leg height to form a leg height array, generates a leg height difference between two adjacent data in the array, forms a leg height difference array, filters out the group of data with the largest leg height difference, removes the data closest to the height threshold, and maps it to the other leg; a finite state automaton; a height calculation unit; and a drive device. The robot intelligent control system of this invention, because it adopts a direct monitoring method, can acquire the physical quantities and state of the target in real time, has high real-time performance for the rapid decision-making of the finite state automaton, thus ensuring adjustment accuracy, and has a relatively fast processing time.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to an intelligent control system for robots. Background Technology

[0002] Robot perception systems transform various internal state and environmental information of a robot from signals into data and information that the robot itself or other robots can understand and apply. In addition to sensing mechanical quantities related to its own working state, such as displacement, speed and force, visual perception technology is an important aspect of industrial robot perception.

[0003] Visual perception technology typically requires significant computational resources and processing time, as well as a large amount of training data for model training and learning, which can consume substantial time and human resources. Furthermore, visual detection involves remote observation and perception of targets, making it sensitive to environmental factors such as lighting, background, and occlusion. These factors can affect the accuracy and robustness of visual perception algorithms, requiring better environmental control and conditions. To address these issues, we propose an intelligent control system for robots. Summary of the Invention

[0004] The purpose of this application is to provide a robot intelligent control system that can effectively solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a robot intelligent control system, including a memory internally storing pressure threshold, height threshold, and height difference threshold, and further comprising...

[0006] Data acquisition device: to acquire the height of the robot's n legs and the pressure on the n legs at the current moment;

[0007] Prediction device: including

[0008] The pressure analysis module compares the pressure collected from the n legs with the pressure threshold.

[0009] The height analysis module compares the collected n leg heights, sorts them by leg height to form a leg height array, generates a leg height difference between two adjacent data in the array, forms a leg height difference array, filters out the data with the largest leg height difference, removes the data closest to the height threshold, and maps it to the other leg.

[0010] A finite state automaton with a built-in state transition table determines the state of the support pins and generates pin adjustment instructions.

[0011] The height calculation unit generates adjustment instructions based on the mapped legs and height thresholds;

[0012] Drive unit: Adjusts the robot's legs according to the adjustment instructions until the robot reaches the equilibrium state in the state transition table.

[0013] Preferably, it includes a memory internally storing pressure thresholds, height thresholds, and height difference thresholds, and also includes...

[0014] Data acquisition device: to acquire the height of the robot's n legs and the pressure on the n legs at the current moment;

[0015] Prediction device: including

[0016] The pressure analysis module compares the pressure collected from the n legs with the pressure threshold.

[0017] The height analysis module compares the collected n leg heights, sorts them by leg height to form a leg height array, generates a leg height difference between two adjacent data in the array, forms a leg height difference array, filters out the data with the largest leg height difference, removes the data closest to the height threshold, and maps it to the other leg.

[0018] A finite state automaton with a built-in state transition table cyclically checks the state of the support feet and generates support foot adjustment instructions;

[0019] The height calculation unit generates adjustment instructions based on the mapped legs and height thresholds;

[0020] Drive unit: Adjusts the robot's legs according to the adjustment instructions until the robot reaches the equilibrium state in the set of states;

[0021] Use a sorting algorithm to sort the support height data.

[0022] Preferably, it includes a memory internally storing pressure thresholds, height thresholds, and height difference thresholds, and also includes...

[0023] Data acquisition device: to acquire the height of the robot's n legs and the pressure on the n legs at the current moment;

[0024] Prediction device: including

[0025] The pressure analysis module compares the pressure collected from the n legs with the pressure threshold.

[0026] The height analysis module compares the collected n leg heights, sorts them by leg height to form a leg height array, generates a leg height difference between two adjacent data in the array, forms a leg height difference array, filters out the data with the largest leg height difference, removes the data closest to the height threshold, and maps it to the other leg.

[0027] A finite state automaton with a built-in state transition table cyclically checks the state of the support feet and generates support foot adjustment instructions;

[0028] The height calculation unit generates adjustment instructions based on the mapped legs and height thresholds;

[0029] Drive unit: Adjusts the robot's legs according to the adjustment instructions until the robot reaches the equilibrium state in the set of states;

[0030] Use a sorting algorithm to sort the support height data;

[0031] Use a loop to iterate through the support height array, calculate the difference between adjacent data and store it in the support height difference array.

[0032] Preferably, it includes a memory internally storing pressure thresholds, height thresholds, and height difference thresholds, and also includes...

[0033] Data acquisition device: to acquire the height of the robot's n legs and the pressure on the n legs at the current moment;

[0034] Prediction device: including

[0035] The pressure analysis module compares the pressure collected from the n legs with the pressure threshold.

[0036] The height analysis module compares the collected n leg heights, sorts them by leg height to form a leg height array, generates a leg height difference between two adjacent data in the array, forms a leg height difference array, filters out the data with the largest leg height difference, removes the data closest to the height threshold, and maps it to the other leg.

[0037] A finite state automaton with a built-in state transition table cyclically checks the state of the support feet and generates support foot adjustment instructions;

[0038] The height calculation unit generates adjustment instructions based on the mapped legs and height thresholds;

[0039] Drive unit: Adjusts the robot's legs according to the adjustment instructions until the robot reaches the equilibrium state in the set of states;

[0040] Use a sorting algorithm to sort the support height data;

[0041] Use a loop to iterate through the support height array, calculate the difference between adjacent data and store it in the support height difference array;

[0042] Use algorithms such as traversal, sliding window, and dynamic programming to find the maximum difference in the support height difference array. Then, filter out the data that is closest to the nearest height threshold from the set of data with the largest difference.

[0043] Preferably, it includes a memory internally storing pressure thresholds, height thresholds, and height difference thresholds, and also includes...

[0044] Data acquisition device: to acquire the height of the robot's n legs and the pressure on the n legs at the current moment;

[0045] Prediction device: including

[0046] The pressure analysis module compares the pressure collected from the n legs with the pressure threshold.

[0047] The height analysis module compares the collected n leg heights, sorts them by leg height to form a leg height array, generates a leg height difference between two adjacent data in the array, forms a leg height difference array, filters out the data with the largest leg height difference, removes the data closest to the height threshold, and maps it to the other leg.

[0048] A finite state automaton with a built-in state transition table cyclically checks the state of the support feet and generates support foot adjustment instructions;

[0049] The height calculation unit generates adjustment instructions based on the mapped legs and height thresholds;

[0050] Drive unit: Adjusts the robot's legs according to the adjustment instructions until the robot reaches the equilibrium state in the set of states;

[0051] Use a sorting algorithm to sort the support height data;

[0052] Use a loop to iterate through the support height array, calculate the difference between adjacent data and store it in the support height difference array;

[0053] Use algorithms such as traversal or sliding window, dynamic programming to find the maximum difference in the support height difference array, filter out the data that is closest to the nearest height threshold from the data with the largest difference, and filter out the data with the largest difference from the data with the largest difference.

[0054] The state of the support feet is determined as follows:

[0055] If the height difference between the legs reaches the height difference threshold and the pressure on the legs reaches the pressure threshold, then the robot is judged to be in a balanced state.

[0056] If the height difference between the outriggers reaches the height difference threshold, but the pressure on one outrigger does not reach the pressure threshold, then the robot is judged to be in a state of outrigger suspension.

[0057] If the height difference between the outriggers does not reach the height difference threshold, but the pressure on the outriggers reaches the pressure threshold, then the robot is judged to be in a tilted state.

[0058] Preferably, it includes a memory internally storing pressure thresholds, height thresholds, and height difference thresholds, and also includes...

[0059] Data acquisition device: to acquire the height of the robot's n legs and the pressure on the n legs at the current moment;

[0060] Prediction device: including

[0061] The pressure analysis module compares the pressure collected from the n legs with the pressure threshold.

[0062] The height analysis module compares the collected n leg heights, sorts them by leg height to form a leg height array, generates a leg height difference between two adjacent data in the array, forms a leg height difference array, filters out the data with the largest leg height difference, removes the data closest to the height threshold, and maps it to the other leg.

[0063] A finite state automaton with a built-in state transition table cyclically checks the state of the support feet and generates support foot adjustment instructions;

[0064] The height calculation unit generates adjustment instructions based on the mapped legs and height thresholds;

[0065] Drive unit: Adjusts the robot's legs according to the adjustment instructions until the robot reaches the equilibrium state in the set of states;

[0066] Use a sorting algorithm to sort the support height data;

[0067] Use a loop to iterate through the support height array, calculate the difference between adjacent data and store it in the support height difference array;

[0068] Use algorithms such as traversal or sliding window, dynamic programming to find the maximum difference in the support height difference array, filter out the data that is closest to the nearest height threshold from the data with the largest difference, and filter out the data with the largest difference from the data with the largest difference.

[0069] The state of the support feet is determined as follows:

[0070] If the height difference between the legs reaches the height difference threshold and the pressure on the legs reaches the pressure threshold, then the robot is judged to be in a balanced state.

[0071] If the height difference between the outriggers reaches the height difference threshold, but the pressure on one outrigger does not reach the pressure threshold, then the robot is judged to be in a state of outrigger suspension.

[0072] If the height difference between the legs does not reach the height difference threshold, but the pressure on the legs reaches the pressure threshold, then the robot is judged to be in a tilted state.

[0073] The acquisition device includes a pressure acquisition module for real-time acquisition of outrigger pressure, and a height acquisition module for acquisition of outrigger height at time k.

[0074] Preferably, it includes a memory internally storing pressure thresholds, height thresholds, and height difference thresholds, and also includes...

[0075] Data acquisition device: to acquire the height of the robot's n legs and the pressure on the n legs at the current moment;

[0076] Prediction device: including

[0077] The pressure analysis module compares the pressure collected from the n legs with the pressure threshold.

[0078] The height analysis module compares the collected n leg heights, sorts them by leg height to form a leg height array, generates a leg height difference between two adjacent data in the array, forms a leg height difference array, filters out the data with the largest leg height difference, removes the data closest to the height threshold, and maps it to the other leg.

[0079] A finite state automaton with a built-in state transition table cyclically checks the state of the support feet and generates support foot adjustment instructions;

[0080] Use a sorting algorithm to sort the support height data;

[0081] Use a loop to iterate through the support height array, calculate the difference between adjacent data and store it in the support height difference array;

[0082] Use algorithms such as traversal or sliding window, dynamic programming to find the maximum difference in the support height difference array, filter out the data that is closest to the nearest height threshold from the data with the largest difference, and filter out the data with the largest difference from the data with the largest difference.

[0083] The state of the support feet is determined as follows:

[0084] If the height difference between the legs reaches the height difference threshold and the pressure on the legs reaches the pressure threshold, then the robot is judged to be in a balanced state.

[0085] If the height difference between the outriggers reaches the height difference threshold, but the pressure on one outrigger does not reach the pressure threshold, then the robot is judged to be in a state of outrigger suspension.

[0086] If the height difference between the legs does not reach the height difference threshold, but the pressure on the legs reaches the pressure threshold, then the robot is judged to be in a tilted state.

[0087] The acquisition device includes a pressure acquisition module for real-time acquisition of outrigger pressure, and a height acquisition module for acquisition of outrigger height at time k.

[0088] The height calculation unit generates adjustment instructions based on the mapped legs and height thresholds;

[0089] Drive unit: Adjusts the robot's legs according to the adjustment instructions until the robot reaches the equilibrium state in the set of states;

[0090] The finite state automaton follows these steps:

[0091] S21. Define the state of the robot, including the balanced state, the state with the outriggers suspended, and the tilted state.

[0092] S22. Define an event that triggers a state change, the event including the outrigger height difference reaching a height difference threshold, the outrigger height difference not reaching a height difference threshold, the outrigger pressure reaching a pressure threshold, and the outrigger pressure not reaching a pressure threshold;

[0093] S23. Based on the aforementioned states and events, define a state transition table:

[0094] Rows correspond to states, columns correspond to events, and cross cells represent state transitions from the current state triggered by the event, including:

[0095] When the support leg is suspended in the air, an adjustment command is generated.

[0096] In the tilted state, the height calculation unit is invoked to calculate the height difference between the outriggers and generate adjustment instructions;

[0097] S24. Determine the initial state of the robot, wherein the initial state is an equilibrium state;

[0098] S25. Monitor the occurrence of events, including changes in outrigger height difference and outrigger pressure;

[0099] S26. Based on the current event, find the corresponding state cell in the state transition table and perform a state transition;

[0100] S27. Repeat steps S25 and S26 until the robot completes its operation or reaches the initial state.

[0101] Preferably, it includes a memory internally storing pressure thresholds, height thresholds, and height difference thresholds, and also includes...

[0102] Data acquisition device: to acquire the height of the robot's n legs and the pressure on the n legs at the current moment;

[0103] Prediction device: including

[0104] The pressure analysis module compares the pressure collected from the n legs with the pressure threshold.

[0105] The height analysis module compares the collected n leg heights, sorts them by leg height to form a leg height array, generates a leg height difference between two adjacent data in the array, forms a leg height difference array, filters out the data with the largest leg height difference, removes the data closest to the height threshold, and maps it to the other leg.

[0106] A finite state automaton with a built-in state transition table cyclically checks the state of the support feet and generates support foot adjustment instructions;

[0107] The height calculation unit generates adjustment instructions based on the mapped legs and height thresholds;

[0108] Drive unit: Adjusts the robot's legs according to the adjustment instructions until the robot reaches the equilibrium state in the set of states;

[0109] The drive device includes an adjustment module for adjusting the height of the robot's legs. The adjustment module is driven after receiving an adjustment command to adjust the height of the legs.

[0110] Compared with the prior art, the present invention provides a robot intelligent control system, which has the following beneficial effects:

[0111] This intelligent robot control system, through a pre-set predictive device, automatically senses and adjusts the robot's outriggers based on a finite state automaton. It can monitor the ground conditions where the robot stands in real time and adjust the outriggers according to changes in the external environment, thereby enhancing the robot's stability and improving its ability to walk in complex environments. It also makes the support force distribution of the robot more uniform and reduces the energy consumption of the robot when standing upright. In industrial environments, automatic sensing and adjustment of the outriggers can ensure that the robot remains stable even in unstable environments and avoid accidents caused by loss of balance of the outriggers, thereby improving production efficiency, reducing the failure rate, and providing a safer and more reliable working environment.

[0112] Finite state automata differ from traditional visual perception algorithms. Under the premise of sensing pressure and height, finite state automata are more suitable for deterministic problems. Because they adopt a direct monitoring method, they can obtain the physical quantity and state of the target in real time. Finite state automata have high real-time performance for fast decision-making, thus ensuring adjustment accuracy, and the processing time is relatively fast. Attached Figure Description

[0113] Figure 1 This is a system block diagram of a robot intelligent control system according to the present invention.

[0114] In the picture:

[0115] 100. Memory; 200. Acquisition device; 300. Prediction device; 400. Drive device; 201. Pressure acquisition module; 202. Height acquisition module; 301. Pressure analysis module; 302. Height analysis module; 303. Finite state automaton; 3031. Height calculation unit; 401. Adjustment module. Detailed Implementation

[0116] To make the technical means, creative features, and achieved objectives and effects of this invention readily understandable, the invention will be further described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are merely some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0117] To address the shortcomings of existing technologies, this invention provides a robot intelligent control system, including a memory internally storing pressure thresholds, height thresholds, and height difference thresholds, and further comprising...

[0118] Data acquisition device 200: realizes the acquisition of the height of the robot's n legs and the pressure on the n legs at the current moment;

[0119] Prediction device 300: includes

[0120] The pressure analysis module 301 compares the pressure collected from the n legs with the pressure threshold.

[0121] The height analysis module 302 compares the collected n leg heights, sorts them by leg height to form a leg height array, generates a leg height difference between two adjacent data in the array, forms a leg height difference array, filters out the data with the largest leg height difference, removes the data closest to the height threshold, and maps it to the other leg.

[0122] Finite state automaton 303 has a built-in state transition table and performs cyclic judgment on the state of the support foot to generate support foot adjustment instructions.

[0123] The height calculation unit 3031 generates adjustment instructions based on the mapped legs and height thresholds;

[0124] Drive unit 400: Adjusts the robot's legs according to the adjustment instructions until the robot reaches the equilibrium state in the state set.

[0125] It should be noted that a sorting algorithm was used to sort the support height data;

[0126] Use a loop to iterate through the support height array, calculate the difference between adjacent data and store it in the support height difference array;

[0127] Use algorithms such as traversal, sliding window, and dynamic programming to find the maximum difference in the support height difference array. Then, filter out the data that is closest to the nearest height threshold from the set of data with the largest difference.

[0128] Specifically, a robot intelligent control system determines the state of the outriggers:

[0129] If the height difference between the legs reaches the height difference threshold and the pressure on the legs reaches the pressure threshold, then the robot is judged to be in a balanced state.

[0130] If the height difference between the outriggers reaches the height difference threshold, but the pressure on one outrigger does not reach the pressure threshold, then the robot is judged to be in a state of outrigger suspension.

[0131] If the height difference between the outriggers does not reach the height difference threshold, but the pressure on the outriggers reaches the pressure threshold, then the robot is judged to be in a tilted state.

[0132] It should be noted that this invention is a robot intelligent control system, and the height difference threshold can be set to 2cm, and the pressure threshold is 50N.

[0133] Case 1: The height difference of the left foot is 3cm, and the pressure of the left foot is 60N. The height difference of the right foot is 1cm, and the pressure of the right foot is 40N. Based on the situation analysis: the height difference of the left foot exceeds the height difference threshold, but the pressure reaches the pressure threshold; the height difference of the right foot does not reach the height difference threshold, and the pressure does not reach the pressure threshold. According to the rule: if the height difference of the legs reaches the height difference threshold, but the pressure of the legs does not reach the pressure threshold, then the robot is judged to be in a state of suspended legs.

[0134] Case 2:

[0135] The height difference of the left foot is 2cm, and the pressure of the left foot is 55N. The height difference of the right foot is 2cm, and the pressure of the right foot is 55N. Based on the situation analysis: the height difference of the left foot reaches the height difference threshold, and the pressure reaches the pressure threshold; the height difference of the right foot reaches the height difference threshold, and the pressure reaches the pressure threshold. According to the rule: if the height difference of the legs reaches the height difference threshold, and the pressure of the legs reaches the pressure threshold, then the robot is judged to be in a balanced state.

[0136] Case 3: The height difference of the left foot is 3cm, and the pressure of the left foot is 55N. The height difference of the right foot is 1cm, and the pressure of the right foot is 55N. Based on the situation analysis: the height difference of the left foot exceeds the height difference threshold, and the pressure reaches the pressure threshold; the height difference of the right foot does not reach the height difference threshold, but the pressure reaches the pressure threshold. According to the rule: if the height difference of the legs does not reach the height difference threshold, but the pressure of the legs reaches the pressure threshold, then the robot is judged to be in a tilted state.

[0137] In this process, the heights of the n collected legs are analyzed and sorted to form a leg height array. For example, the heights of the front, left, right, back, left, and right legs are 5cm, 1cm, 2cm, and 2cm, respectively. In the finite state automaton 303, the robot is determined to be in a tilted state. At this time, the height analysis module compares the collected heights of the four legs and sorts them to form an array {1, 2, 2, 5} or {5, 2, 2, 1}. The group with the largest difference in leg height is 5cm and 2cm, which has a height difference of 3cm. Legs with a height difference of 2cm that are close to the height threshold are filtered out. The leg with a height difference of 5cm is mapped, and the height calculation unit 3031 is called to generate an adjustment instruction based on the current leg and the height threshold.

[0138] Specifically, a data acquisition device 200 for a robot intelligent control system includes a pressure acquisition module 201 for real-time acquisition of outrigger pressure and a height acquisition module 202 for acquisition of outrigger height at time k.

[0139] It should be noted that this invention is a robot intelligent control system, and the height acquisition module is generally a laser sensor, while the pressure acquisition module is a pressure sensor.

[0140] Specifically, a finite state automaton 303 is used in a robot intelligent control system. The finite state automaton 303 follows the following steps:

[0141] S21. Define the robot's state, which includes the balanced state, the state with its outriggers suspended, and the tilted state.

[0142] S22. Define events that trigger state changes. Events include: the outrigger height difference reaches the height difference threshold, the outrigger height difference does not reach the height difference threshold, the outrigger pressure reaches the pressure threshold, and the outrigger pressure does not reach the pressure threshold.

[0143] S23. Define a state transition table based on states and events:

[0144] Rows correspond to states, columns correspond to events, and cross cells represent state transitions from the current state triggered by the event, including:

[0145] When the support leg is suspended in the air, an adjustment command is generated.

[0146] In the tilted state, the height calculation unit 3031 is invoked to calculate the height difference of the support legs and generate adjustment instructions.

[0147] The calibration command is based on the collected leg heights. It calculates the height difference of each leg relative to the reference leg. One leg can be used as a reference, and the heights of the other legs can be compared with it. Based on the calculation results of the height difference, a calibration strategy is formulated, such as controlling the height difference within a certain range or making all legs the same height. Based on this strategy, a calibration command is generated, and then the generated calibration command is converted into an appropriate electrical signal and sent to the adjustment module 401 through the drive device 400.

[0148] The adjustment module 401 consists of a drive cylinder or other telescopic component similar to this.

[0149] After the adjustment module 401 executes the adjustment command, the height of the outrigger is re-monitored by the acquisition device 200. Then, the pressure analysis module 301 and the height analysis module 302 in the prediction device 300 are compared with the height threshold, height difference threshold and pressure threshold. Adjustments and optimizations are made based on the actual measurement results to achieve the required outrigger height adjustment target.

[0150] S24. Determine the initial state of the robot, which is an equilibrium state;

[0151] S25. Monitor the occurrence of events, including changes in outrigger height difference and outrigger pressure;

[0152] S26. Based on the current event, find the corresponding state cell in the state transition table and perform a state transition;

[0153] S27. Repeat steps S25 and S26 until the robot completes its operation or reaches the initial state.

[0154] Specifically, a drive device 400 for a robot intelligent control system includes an adjustment module 401 for adjusting the height of the robot's legs. The adjustment module 401 is driven after receiving an adjustment command to adjust the height of the legs.

[0155] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A robot intelligent control system, characterized in that: This includes internal memory storing pressure thresholds, height thresholds, and height difference thresholds, and also includes... Data acquisition device (200): realizes the data acquisition of the robot at the current moment. Height of each support leg and The pressure on each support leg is collected; Prediction device (300): includes The pressure analysis module (301) will collect the data. The pressure on each support leg is compared with the pressure threshold. The height analysis module (302) will collect the data. The height of each support leg is compared and sorted to form a support leg height array. The height difference between two adjacent data in the array is generated and formed into a support leg height difference array. The data with the largest support leg height difference is filtered out, and the data closest to the height threshold is removed and mapped to the other support leg. A finite state automaton (303) has a built-in state transition table to determine the state of the support foot and generate a support foot adjustment instruction; The height calculation unit (3031) generates adjustment instructions based on the mapped legs and height thresholds; Drive unit (400): Adjusts the robot's legs according to the adjustment instructions until the robot reaches the equilibrium state in the state transition table; The finite state automaton (303) follows these steps: S21. Define the state of the robot, including the balanced state, the state with the outriggers suspended, and the tilted state. S22. Define events that trigger state changes, including the following events: the outrigger height difference reaches a height difference threshold, the outrigger height difference does not reach a height difference threshold, the outrigger pressure reaches a pressure threshold, and the outrigger pressure does not reach a pressure threshold. S23. Define a state transition table based on the state and the event; S24. Determine the initial state of the robot, wherein the initial state is an equilibrium state; S25. Monitor the occurrence of events; S26. Based on the current event, find the corresponding state cell in the state transition table and perform a state transition; S27. Repeat steps S25 and S26 until the robot completes its operation or reaches the initial state. In the defined state transition table, rows correspond to states, columns correspond to events, and cross cells represent state transitions from the current state triggered by that event.

2. The robot intelligent control system according to claim 1, characterized in that: The state of the support feet is determined as follows: If the height difference between the legs reaches the height difference threshold and the pressure on the legs reaches the pressure threshold, then the robot is judged to be in a balanced state. If the height difference between the outriggers reaches the height difference threshold, and the pressure on the outriggers does not reach the pressure threshold, then the robot is judged to be in a state of outrigger suspension. If the height difference between the outriggers does not reach the height difference threshold, but the pressure on the outriggers reaches the pressure threshold, then the robot is judged to be in a tilted state.

3. The robot intelligent control system according to claim 1, characterized in that: The data acquisition device includes a pressure acquisition module (201) for real-time acquisition of outrigger pressure, and a height acquisition module (202) for real-time acquisition of... The height of the support legs is collected at all times.

4. The robot intelligent control system according to claim 3, characterized in that: The state transition includes: When the support leg is suspended in the air, an adjustment command is generated. In the tilted state, the height calculation unit (3031) is invoked to calculate the height difference of the legs and generate adjustment instructions.

5. A robot intelligent control system according to claim 4, characterized in that: The events described include differences in outrigger height and changes in outrigger pressure.

6. The robot intelligent control system according to claim 1, characterized in that: The drive device (400) includes an adjustment module (401) for adjusting the height of the robot's legs. The adjustment module (401) is driven after receiving an adjustment command to adjust the height of the legs.

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